Finite-Time Observer Based Guidance and Control of Underactuated Marine Vehicles with Time-Varying Large Sideslip and Disturbances

Suffering from complex sideslip angles, path following control of an underactuated marine vehicle (UMV) becomes significantly challenging and remains unresolved. In this paper, a finite-time observer based guidance and control (FOGC) scheme for path following of an UMV with time-varying and large sideslip angles and unknown external disturbances is proposed. The salient features of the proposed FOGC scheme are as follows: (1) Time-varying large sideslip angle is exactly estimated by a finite-time sideslip observer (FSO), and thereby contributing to the sideslip-tangent line-of-sight (SLOS) guidance law which significantly enhances the robustness of the guidance system to unknown sideslip angles which are significantly large and time-varying; (2) A finite-time disturbance observer (FDO) is devised to exactly observe unknown external disturbances, and thereby implementing FDO based surge and heading robust tracking controllers which possess remarkable tracking accuracy and precise disturbance rejection, simultaneously. (3) By virtue of cascade analysis and Lyapunov approach, global asymptotic stability of the entire guidance-control integrated closed-loop system is rigorously ensured. Simulation studies and comparisons are conducted to demonstrate the effectiveness and superiority of the proposed FOGC scheme.