This paper investigates the path tracking control problem of an underactuated Unmanned Surface Vehicle (USV) based on a combination of Fixed-Time Line-of-Sight (FTLOS) guidance law and Backstepping control. Through theoretical analysis and simulation experiments, it is demonstrated that the proposed strategy enables the USV to smoothly and quickly follow the desired path, with all errors in the closed-loop system converging to a small neighborhood of the origin within a fixed time interval. Subsequently, experiments were designed using a self-developed USV control system and a virtual maritime platform. Comparisons between the FTLOS-Backstepping integrated control law and other guidance-control laws for USVs validate the superiority and effectiveness of the proposed approach.
Underactuated Unmanned Surface Vessel Path Tracking Control Based on Fixed Time Line of Sight Guidance Law and Backstepping Control Method
2025-05-16
1257023 byte
Conference paper
Electronic Resource
English
Path Following Backstepping Control of Underactuated Unmanned Underwater Vehicle
British Library Conference Proceedings | 2015
|DOAJ | 2017
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