Robust Adaptive Path Following Control Strategy for Underactuated Unmanned Surface Vehicles with Model Deviation and Actuator Saturation

Robust Adaptive Path Following Control Strategy for Underactuated Unmanned Surface Vehicles with Model Deviation and Actuator Saturation

This paper shows solicitude for the path following control issues of underactuated unmanned surface vehicles subject to unknown external disturbances, deviation of vessel model parameters and actuator saturation. Initially, an improved adaptive integral line-of-sight (IALOS) guidance law is introduc...

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Bibliographic Details
Main Authors: Yunsheng Fan, Xinpeng Zou, Guofeng Wang, Dongdong Mu
Format: Article
Language:English
Published: MDPI AG 2022-03-01
Series:Applied Sciences
Subjects:
underactuated unmanned surface vehicle
IALOS
path following
model deviation
input saturation
finite-time convergent disturbance observer
Online Access:https://www.mdpi.com/2076-3417/12/5/2696

Internet

https://www.mdpi.com/2076-3417/12/5/2696

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