控制理论(社会学)
补偿(心理学)
观察员(物理)
路径(计算)
计算机科学
理论(学习稳定性)
级联
曲面(拓扑)
法学
工程类
控制(管理)
人工智能
数学
物理
心理学
几何学
量子力学
机器学习
化学工程
政治学
精神分析
程序设计语言
作者
Zijie Dai,Qiuxia Zhang,Jianhua Cheng,Yongpeng Weng
出处
期刊:Communications in computer and information science
日期:2023-01-01
卷期号:: 193-205
标识
DOI:10.1007/978-981-99-5844-3_14
摘要
This paper proposes a new approach to solving the path-following problem for underdriven unmanned surface vehicles (USVs) with unknown sideslip angles. The method employs a sideslip observer to estimate and compensate for time-varying sideslip angles caused by external perturbations or curved paths, and further incorporates the line-of-sight (LOS) guidance law to deliver a path-following guidance scheme. The methodology rests on the theory of cascade stability and ensures the global asymptotic stability of the closed-loop system. Experimental results have verified the validity of the approach.
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