Underactuated USV path following mechanism based on the cascade method

• Published in: Scientific reports Vol. 12; no. 1; pp. 1461 - 14
• Main Authors: Lin, Mingzhen, Zhang, Zhiqiang, Pang, Yandong, Lin, Hongsheng, Ji, Qing
• Format: Journal Article
• Language: English
• Published: London Nature Publishing Group UK 27.01.2022; Nature Publishing Group; Nature Portfolio
• Subjects: 639/166/987; 639/166/988; 639/766/1130; Algorithms; Control algorithms; Control systems; Humanities and Social Sciences; multidisciplinary; Science; Science (multidisciplinary); Velocity

The path following control under disturbance was studied for an underactuated unmanned surface vehicle (USV) subject to the rudder angle and velocity constraints. For this reason, a variable look-ahead integral line-of-sight (LOS) guidance law was designed on the basis of the disturbance estimation...