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.
Adaptive path-tracking control with improved line-of-sight guidance law for unmanned wave glider
International Conference on Remote Sensing, Mapping, and Image Processing (RSMIP 2024) ; 2024 ; Xiamen, China
Proc. SPIE ; 13167
2024-06-21
Conference paper
Electronic Resource
English
PATH TRACKING CONTROL METHOD IN UNDERWATER GLIDER VECTOR FIELD
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