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State constrained path following of underactuated unmanned surface vehicles subjected to dynamic unknowns and environmental disturbances

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Abstract

In this paper, the path following of underactuated unmanned surface vehicles (USVs) is solved under the circumstance of external environment disturbances, uncertain model parameters, and limited thrust. First, a preset performance line-of-sight guidance law based on the adaptive extended state observer (ESO) is proposed to ensure that the USV can follow the path safely and quickly while restricting the position errors of the desired path. Then, in the dynamic control subsystem, a fixed-time ESO is proposed to improve the convergence rate of the estimated correlated perturbations and unknown state quantities. Finally, a finite-time saturation compensation system is introduced to improve the saturation compensation speed of the actuator when the thrust is finite. The effectiveness of the proposed performance control strategy is verified by path following simulation.

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Acknowledgements

This work was supported in part by Natural Science Foundation of Liaoning Province under Grant 20180520005, the Key Development Guidance Program of Liaoning Province of China under Grant 2019JH8/10100100, the Soft Science Research Program of Dalian City of China under Grant 2019J11CY014, China Postdoctoral Science Foundation under Grant 2022M710569 and Fundamental Research Funds for the Central Universities under Grant 3132023109.

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Authors and Affiliations

  1. College of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, Liaoning, China

    Dongdong Mu, Lu Li, Guofeng Wang, Yunsheng Fan & Bowen Liu

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  1. Dongdong Mu
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  2. Lu Li
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  3. Guofeng Wang
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  4. Yunsheng Fan
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  5. Bowen Liu
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Correspondence to Dongdong Mu or Lu Li.

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Mu, D., Li, L., Wang, G. et al. State constrained path following of underactuated unmanned surface vehicles subjected to dynamic unknowns and environmental disturbances. J Mar Sci Technol 28, 536–550 (2023). https://doi.org/10.1007/s00773-023-00939-4

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  • DOI: https://doi.org/10.1007/s00773-023-00939-4

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