Robust Output Path-Following Control of Marine Surface Vessels with Finite-Time LOS Guidance

Abstract

This paper proposes a finite-time output feedback methodology for the path-following task of marine surface vessels. First, a horizontal path-following model is established with unknown sideslip angle, unmeasured system state and system uncertainties. A hierarchical control structure is adopted to deal with the cascade property. For kinematics system design, a finite-time sideslip angle observer is first proposed, and thus the sideslip angle estimation is compensated in a nonlinear line-of-sight (LOS) guidance strategy to acquire finite-time convergence. For the heading control design, an extended state observer is introduced for the unmeasured state and equivalent disturbance estimation, based on which an output feedback backstepping approach is proposed for the desired tracking of command course angle. The global stability of the cascade system is analyzed. Simulation results validate the effectiveness of the proposed methodology.

Unmanned Marine Vehicles

“…The problem of the path-following for USVs is investigated by Wang et al [7] which propose a robust output feedback methodology based on a hierarchical control structure using a finite-time Line Of Sight (LOS) guidance algorithm and an (Extended State Observer) ESO-based output feedback backstepping controller. A global stability analysis is carried out based on Lyapunov theory and numerical simulations show the fast convergence of the proposed guidance law.…”