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....

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Detalhes bibliográficos

Principais autores:	Lina Jin, Shuanghe Yu, Guoyou Shi, Xiaohong Wang
Formato:	Artigo
Idioma:	Inglês
Publicado em:	Taylor & Francis Group 2024-01-01
coleção:	Automatika
Assuntos:	Disturbance observer finite-time control kinematic path-following curve parametrized path underactuated ASV
Acesso em linha:	https://www.tandfonline.com/doi/10.1080/00051144.2023.2298099
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