BEJARANO PELLICER, GUILLERMO, N-YO, SUFIYAN
No
IFAC-PapersOnLine
Proceedings Paper
Científica
0.308
01/01/2020
000652593600237
2-s2.0-85119418386
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.
System state estimation; Guidance systems; Path following; Robust control; Disturbance rejection; Autonomous vehicles; Marine systems