Adaptive Observer-Based Line-of-Sight Guidance Law for Path Following of Underactuated Unmanned Surface Vehicle With Sideslip Compensation

In this paper, the path following problem of an underactuated unmanned surface vehicle (USV) in the presence of environmental disturbances is considered. To compensate for the sideslip induced by drift forces, an adaptive Kalman-like observer is proposed to estimate both the path following errors an...

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Autori principali:	Luka Martinovic, Zarko Zecevic, Marco Bibuli, Massimo Caccia, Dula Nad
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	IEEE 2024-01-01
Serie:	IEEE Access
Soggetti:	Adaptive observer line-of-sight LOS path following sideslip estimation
Accesso online:	https://ieeexplore.ieee.org/document/10701520/
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