Wu Shipeng, Ye Hui, Liu Wei, Yang Xiaofei, Liu Ziqing, Zhang Hao
College of Automation, Jiangsu University of Science and Technology, Zhenjiang 212000, China.
Sensors (Basel). 2024 Aug 20;24(16):5384. doi: 10.3390/s24165384.
In this paper, targeting the problem that it is difficult to deal with the time-varying sideslip angle of an underactuated unmanned surface vehicle (USV), a line-of-sight (LOS) guidance law based on an improved extended state observer (ESO) is proposed. A reduced-order ESO is introduced into the identification of the sideslip angle caused by the environmental disturbance, which ensures a fast and accurate estimation of the sideslip angle. This enables the USV to follow the reference path with high precision, despite external disturbances from wind, waves, and currents. These unknown disturbances are modeled as drift, which the modified ESO-based LOS guidance law compensates for using the ESO. In the guidance subsystem incorporating the reduced-order state observer, the observer estimation and track errors are proved uniformly ultimately bounded. Simulation and experimental results are presented to validate the effectiveness of the proposed method. The simulation and comparison results demonstrate that the proposed ELOS guidance can help a USV track different types of paths quickly and smoothly. Additionally, the experimental results confirm the feasibility of the method.
针对欠驱动无人水面艇（USV）难以处理时变侧滑角的问题，本文提出了一种基于改进型扩展状态观测器（ESO）的视线（LOS）制导律。将降阶ESO引入到由环境干扰引起的侧滑角识别中，确保了对侧滑角的快速准确估计。这使得无人水面艇能够高精度地跟踪参考路径，尽管存在来自风、浪和水流的外部干扰。这些未知干扰被建模为漂移，基于改进型ESO的LOS制导律利用ESO对其进行补偿。在包含降阶状态观测器的制导子系统中，证明了观测器估计误差和跟踪误差一致最终有界。给出了仿真和实验结果以验证所提方法的有效性。仿真和对比结果表明，所提的ELOS制导能帮助无人水面艇快速、平稳地跟踪不同类型的路径。此外，实验结果证实了该方法的可行性。
