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• W4320802325 abstract "This paper solves the path following control problem of underactuated unmanned surface vehicle with unknown time-varying disturbances. An adaptive fast non-singular terminal sliding mode path following control strategy is proposed based on an extended state observer (ESO) line-of-sight guidance law. Considering the influence of external disturbances on the navigation of the unmanned surface vehicle, a finite-time convergent disturbance observer (FCDO) is applied in the control law to compensate for the external disturbance to reduce the chatter problem of the sliding mode controller effectively. A robust term is designed to compensate for the estimation error of the observer, which ensures the stability of the system. The results of simulation experiments are carried out to demonstrate that the designed control law has stronger robustness and faster convergence speed." @default.
• W4320802325 created "2023-02-15" @default.
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• W4320802325 date "2022-08-15" @default.
• W4320802325 modified "2023-09-28" @default.
• W4320802325 title "Robust Adaptive Path Following Control Strategy for Underactuated Unmanned Surface Vehicle with Unknown Time-varying Disturbance" @default.
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• W4320802325 doi "https://doi.org/10.1109/ccdc55256.2022.10034027" @default.
• W4320802325 hasPublicationYear "2022" @default.
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