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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2410.06998 |
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| _version_ | 1866912688411508736 |
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| author | Li, Haoda Liu, Zichen Huang, Jin An, Xinyu Chen, Ying |
| author_facet | Li, Haoda Liu, Zichen Huang, Jin An, Xinyu Chen, Ying |
| contents | This paper presents an Improved Extended-state-observer based Line-of-Sight (IELOS) guidance law for path following of underactuated Autonomous Underwater helicopter (AUH) utilizing a nonlinear tracking differentiator and anti-saturation controller. Due to the high mobility of the AUH, the classical reduced-order Extended-State-Observer (ESO) struggles to accurately track the sideslip angle, especially when rapid variation occurs. By incorporating the nonlinear tracking differentiator and anti-saturation controller, the IELOS guidance law can precisely track sideslip angle and mitigate propeller thrust buffet compared to the classical Extended-state-observer based Line-of-Sight (ELOS) guidance law. The performance of ESO is significantly influenced by the bandwidth, with the Improved Extended-State-Observer (IESO) proving effective at low bandwidths where the classical ESO falls short. The paper establishes the input-to-state stability of the closed-loop system. Subsequently, simulation and pool experimental results are showcased to validate the effectiveness of the IELOS guidance law, which outperforms both the Line-of-Sight (LOS) and Adaptive Line-of-Sight (ALOS) guidance laws in terms of performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_06998 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | An Improved ESO-Based Line-of-Sight Guidance Law for Path Following of Underactuated Autonomous Underwater Helicopter With Nonlinear Tracking Differentiator and Anti-saturation Controller Li, Haoda Liu, Zichen Huang, Jin An, Xinyu Chen, Ying Systems and Control This paper presents an Improved Extended-state-observer based Line-of-Sight (IELOS) guidance law for path following of underactuated Autonomous Underwater helicopter (AUH) utilizing a nonlinear tracking differentiator and anti-saturation controller. Due to the high mobility of the AUH, the classical reduced-order Extended-State-Observer (ESO) struggles to accurately track the sideslip angle, especially when rapid variation occurs. By incorporating the nonlinear tracking differentiator and anti-saturation controller, the IELOS guidance law can precisely track sideslip angle and mitigate propeller thrust buffet compared to the classical Extended-state-observer based Line-of-Sight (ELOS) guidance law. The performance of ESO is significantly influenced by the bandwidth, with the Improved Extended-State-Observer (IESO) proving effective at low bandwidths where the classical ESO falls short. The paper establishes the input-to-state stability of the closed-loop system. Subsequently, simulation and pool experimental results are showcased to validate the effectiveness of the IELOS guidance law, which outperforms both the Line-of-Sight (LOS) and Adaptive Line-of-Sight (ALOS) guidance laws in terms of performance. |
| title | An Improved ESO-Based Line-of-Sight Guidance Law for Path Following of Underactuated Autonomous Underwater Helicopter With Nonlinear Tracking Differentiator and Anti-saturation Controller |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2410.06998 |