Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation
Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation
复制标题
基于预测器的 LOS 制导法，用于带侧滑补偿的欠驱动海洋水面车辆路径跟踪
DOI：
10.1016/j.oceaneng.2016.07.057
复制
发表时间：
2016-09-15
影响因子：
5
通讯作者：
Wang, Hao
中科院分区：
文献类型：
--
作者：
Liu, Lu;Wang, Dan;Wang, Hao
针对欠驱动水面航行器的路径跟踪问题，提出了一种新的基于预测器的视线制导律。提出了一种用于估计环境干扰引起的车辆侧滑的预测器。所提出的制导律不仅保持了经典视线制导的简单性和解释性，而且能够平滑快速地辨识车辆的侧滑角。利用级联稳定性理论，证明了闭环系统的平衡点是一致全局渐近稳定的。通过推导自适应信号的导数的La范数来量化瞬态特性，该La范数可以通过选择设计参数来减小。仿真和实验结果验证了该方法的有效性。(C)2016爱思唯尔有限公司版权所有。
This paper presents a novel predictor-based line-of-sight (PLOS) guidance law for the path following of underactuated marine surface vehicles. A predictor is developed for the estimation of vehicle sideslip due to environmental disturbances. The proposed guidance law not only preserves the simplicity and interpretation of classical line-of-sight (LOS) guidance, but also enables smooth and fast identification of the vehicle sideslip angle. By using a cascade stability theory, the equilibrium point of the close-loop system is shown to be uniform global asymptotic stable. The transient property is quantified by deriving the La norm of the derivative of the adaptive signal, which can be reduced by choosing design parameters. Both simulation and experimental results are provided to validate the effectiveness of the method. (C) 2016 Elsevier Ltd. All rights reserved.