In order to improve the adaptability of unmanned wave glider to complex sea states, a reduced-order extended-state-observer-based line-of-sight (ELOS) guidance law is designed for the adaptive path tracking control problem of UWG. In this ELOS guidance law, the reduced-order extended state observer is introduced to estimate the time-varying sideslip angle, so that the unknown time-varying sideslip angle can be compensated, which improves the control performance of the system and accelerates the convergence speed. The stability analysis and simulation comparison experiments verify that the control method designed in this paper has good robustness and a significant control effect.


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    Title :

    Adaptive path-tracking control with improved line-of-sight guidance law for unmanned wave glider


    Contributors:
    Bilas Pachori, Ram (editor) / Chen, Lei (editor) / Tan, Wukang (author) / Zhu, Liucun (author) / Li, Paixia (author) / Zhu, Zeliang (author)

    Conference:

    International Conference on Remote Sensing, Mapping, and Image Processing (RSMIP 2024) ; 2024 ; Xiamen, China


    Published in:

    Proc. SPIE ; 13167


    Publication date :

    2024-06-21





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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