Path following of underactuated vehicles via integral line of sight guidance and fixed?time heading control
نویسندگان
چکیده
This study investigates the integral line of sight (ILOS) path-following control problem surface vehicles whose dynamics feature external disturbances, model uncertainties, and actuator dead zones. First, introducing ILOS guidance law, is converted to stabilising a 2nd order nonlinear system. Subsequently, fixed-time observer designed estimate compensate for uncertainties unknown disturbances while overcoming Finally, trajectory tracking strategy based on observer. Numerical examples are given illustrate effectiveness proposed approaches.
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ژورنال
عنوان ژورنال: IET cyber-systems and robotics
سال: 2022
ISSN: ['2631-6315']
DOI: https://doi.org/10.1049/csy2.12043