Title Velocity Estimation and Robust Non-linear Path Following Control of Autonomous Surface Vehicles
External publication No
Means IFAC-PapersOnLine
Scope Proceedings Paper
Nature Científica
SJR Quartile 3
SJR Impact 0.308
Web https://www.scopus.com/inward/record.uri?eid=2-s2.0-85119418386&doi=10.1016%2fj.ifacol.2020.12.1479&partnerID=40&md5=884893e49eaa77d78d0286d61ce14ebf
Publication date 01/01/2020
ISI 000652593600237
Scopus Id 2-s2.0-85119418386
DOI 10.1016/j.ifacol.2020.12.1479
Abstract This work addresses the problem of non-linear path following control for underactuated autonomous surface vehicles in the horizontal plane. The presence of multiple unknowns is considered, including unmodelled hydrodynamics, internal parametric model uncertainties, and unmeasurable disturbances due to wind, waves, and ocean currents, whereas the surge, sway, and yaw velocities are also considered to be unmeasured. Firstly, a non-linear extended state observer is applied to recover the unmeasured velocities and estimate the lumped generalised disturbances, that include all unknown terms previously detailed. Secondly, regarding the path following control, a surge-guided line-of-sight guidance law is applied to simultaneously compute the surge and heading/yaw references, while a simplified robust-adaptive backstepping control strategy is proposed. The effectiveness and robustness of the proposed estimation and control strategy is verified in simulation considering challenging disturbance and current profiles. Copyright (C) 2020 The Authors.
Keywords System state estimation; Guidance systems; Path following; Robust control; Disturbance rejection; Autonomous vehicles; Marine systems
Universidad Loyola members

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