![]() 67, 107–130 (2017)įossen, T.I.: Handbook of Marine Craft Hydrodynamics and Motion Control. Miao, J., Wang, S., Zhao, Z., Li, Y., Tomovic, M.: Spatial curvilinear path following control of underactuated AUV with multiple uncertainties. Zhao, X., Liu, Y., Han, M., Wu, D., Li, D.: Improving the performance of an AUV hovering system by introducing low-cost flow rate control into water hydraulic variable ballast system. 25(1), 71–89 (2015)Ĭhen, M., Yu, J.: Disturbance observer-based adaptive sliding mode control for near-space vehicles. Xiang, X., Liu, C., Lapierre, L., Jouvencel, B.: Synchronized path following control of multiple homogenous underactuated AUVs. Zhu, E., Pang, J., Sun, N., Gao, H., Sun, Q., Chen, Z.: Airship horizontal trajectory tracking control based on active disturbance rejection control (ADRC). The simulation results and comparative analysis validate the effectiveness and robustness of the proposed control approach. Finally, stability analysis of the closed-loop system is performed. ![]() The lumped disturbances caused by waves and wind are estimated and compensated by the reduced-order LESOs. This approach resolves the problem of computational complexity inherent in the traditional back-stepping method and simplifies the overall controller. The high-order tracking differentiator is applied to construct derivatives of desired yaw angle, which are calculated by the CLOS guidance law. Secondly, the control law is decomposed into the kinematic and dynamic controllers by the back-stepping technique. Based on the time delay control method and the reduced-order linear extended state observer (LESOs) technique, an improved compound line-of-sight (CLOS) guidance law is first proposed which can estimate the unknown sideslip angle and can compensate for the effects of time-varying ocean currents. Firstly, appropriate kinematic and dynamic models are established, where the kinematic model is developed in terms of the relative velocity with respect to the ocean current disturbances, and the dynamic model is developed to include the effects of wind and wave disturbances. This paper investigates the problem of nonlinear path following control of underactuated marine vehicles in the horizontal plane.
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