An Improved ELOS Guidance Law for Path Following of Underactuated Unmanned Surface Vehicles
Shipeng Wu,
Hui Ye,
Wei Liu
et al.
Abstract:In this paper, targeting the problem that it is difficult to deal with the time-varying sideslip angle of an underactuated unmanned surface vehicle (USV), a line–of–sight (LOS) guidance law based on an improved extended state observer (ESO) is proposed. A reduced-order ESO is introduced into the identification of the sideslip angle caused by the environmental disturbance, which ensures a fast and accurate estimation of the sideslip angle. This enables the USV to follow the reference path with high precision, d… Show more
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