Adaptive path-tracking control with improved line-of-sight guidance law for unmanned wave glider

Wukang Tan; Liucun Zhu; Paixia Li; Zeliang Zhu

doi:10.1117/12.3029689

21 June 2024 Adaptive path-tracking control with improved line-of-sight guidance law for unmanned wave glider

Wukang Tan, Liucun Zhu, Paixia Li, Zeliang Zhu

Proceedings Volume 13167, International Conference on Remote Sensing, Mapping, and Image Processing (RSMIP 2024); 131673N (2024) https://doi.org/10.1117/12.3029689
Event: International Conference on Remote Sensing, Mapping and Image Processing (RSMIP 2024), 2024, Xiamen, China

Abstract

In order to improve the adaptability of unmanned wave glider to complex sea states, a reduced-order extended-state-observer-based line-of-sight (ELOS) guidance law is designed for the adaptive path tracking control problem of UWG. In this ELOS guidance law, the reduced-order extended state observer is introduced to estimate the time-varying sideslip angle, so that the unknown time-varying sideslip angle can be compensated, which improves the control performance of the system and accelerates the convergence speed. The stability analysis and simulation comparison experiments verify that the control method designed in this paper has good robustness and a significant control effect.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Wukang Tan, Liucun Zhu, Paixia Li, and Zeliang Zhu "Adaptive path-tracking control with improved line-of-sight guidance law for unmanned wave glider", Proc. SPIE 13167, International Conference on Remote Sensing, Mapping, and Image Processing (RSMIP 2024), 131673N (21 June 2024); https://doi.org/10.1117/12.3029689

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