Finite-time kinematic path-following control of underactuated ASV with disturbance observer

Based on a line-of-sight (LOS) guidance law for a curve parametrized path, a finite-time backstepping control is proposed for the kinematic path-following of an underactuated autonomous surface vehicle (ASV). Finite-time observer is utilized to estimate the unknown external disturbances accurately....

Description complète

Détails bibliographiques

Auteurs principaux:	Lina Jin, Shuanghe Yu, Guoyou Shi, Xiaohong Wang
Format:	Artigo
Langue:	Inglês
Publié:	Taylor & Francis Group 2024-01-01
Collection:	Automatika
Sujets:	Disturbance observer finite-time control kinematic path-following curve parametrized path underactuated ASV
Accès en ligne:	https://www.tandfonline.com/doi/10.1080/00051144.2023.2298099
Tags:	Ajouter un tag Pas de tags, Soyez le premier à ajouter un tag!