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Sailboat Path Following Control Based on LOS with Sideslip Angle Observation and Finite-Time Backstepping

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Sensor Systems and Software (S-Cube 2022)

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Abstract

Suffering from complex sideslip angles, path following control of sailboat becomes significantly challenging. In this article, double finite-time observers-based line-of-sight guidance and finite-time control (DFLOS-FC) scheme is presented for path following of sailboat. Double finite-time sideslip observers (DFSO) are employed to observe the time-varying sideslip angle caused by external disturbances, which improves the accuracy of line-of-sight guidance. To avoid differential explosion problem caused by virtual control law, we designed a finite-time filter. The finite-time disturbance observer (FDO) is designed to accurately observe unknown external disturbances, which enables the controller to have excellent tracking accuracy and precise disturbance rejection. Considering the rotation limit of actuator rudder angle, we limit the rudder angle. The finite-time stability of the integrated guidance and control system is strictly guaranteed by Lyapunov method. Finally, the effectiveness of this method is verified by simulation and comparison with the traditional backstepping method.

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Authors and Affiliations

  1. Harbin Engineering University, Harbin, 150001, China

    Kangjian Shao, Yujin Wu & Hongde Qin

  2. Dalian Maritime University, Dalian, 116026, China

    Ning Wang

Authors
  1. Kangjian Shao
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  2. Yujin Wu
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  3. Ning Wang
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  4. Hongde Qin
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Corresponding author

Correspondence to Ning Wang .

Editor information

Editors and Affiliations

  1. Politecnico di Milano, Milan, Italy

    Hamid Reza Karimi 

  2. Dalian Maritime University, Dalian, China

    Ning Wang

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© 2023 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Shao, K., Wu, Y., Wang, N., Qin, H. (2023). Sailboat Path Following Control Based on LOS with Sideslip Angle Observation and Finite-Time Backstepping. In: Karimi , H.R., Wang, N. (eds) Sensor Systems and Software. S-Cube 2022. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 487. Springer, Cham. https://doi.org/10.1007/978-3-031-34899-0_5

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  • DOI: https://doi.org/10.1007/978-3-031-34899-0_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-34898-3

  • Online ISBN: 978-3-031-34899-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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