National Natural Science Foundation of China under Grants 61273137, 51579023, 51209026, and in part by the China Postdoctoral Science Foundation under Grant 2015M570247, and in part by the Fundamental Research Funds for the Central Universities under Grant 3132016201, 3132016313, and in part by the National Key Research and Development Program of China under Grant 2016YFC0301500, and in part by the Doctoral Scientific Research Foundation of Liaoning Province under Grant 201501035, and in part by the State Key Laboratory of Robotics under Grant 2016-Z02.
This paper presents a novel predictor-based line-of-sight (PLOS) guidance law for the path following of underactuated marine surface vehicles. A predictor is developed for the estimation of vehicle sideslip due to environmental disturbances. The proposed guidance law not only preserves the simplicity and interpretation of classical line-of-sight (LOS) guidance, but also enables smooth and fast identification of the vehicle sideslip angle. By using a cascade stability theory, the equilibrium point of the close-loop system is shown to be uniform global asymptotic stable. The transient property is quantified by deriving the L2norm of the derivative of the adaptive signal, which can be reduced by choosing design parameters. Both simulation and experimental results are provided to validate the effectiveness of the method.