Finite-Time Observer Based Guidance and Control of Underactuated Surface Vehicles With Unknown Sideslip Angles and Disturbances
- Submitting institution
-
University of Plymouth
- Unit of assessment
- 12 - Engineering
- Output identifier
- 2057
- Type
- D - Journal article
- DOI
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10.1109/access.2018.2797084
- Title of journal
- IEEE Access
- Article number
- -
- First page
- 14059
- Volume
- 6
- Issue
- -
- ISSN
- 2169-3536
- Open access status
- Compliant
- Month of publication
- -
- Year of publication
- 2018
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
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4
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- Designing a robust autopilot for underactuated surface vehicles offers various advantages in reducing sensor costs and weights. However, much more powerful control techniques are required to cope with the unknown dynamics. This paper suggests an innovative, robust, finite-time, observer-based autopilot, and results show that use of observers provided robust tracking controllers, which possess remarkable tracking accuracy and precise disturbance rejection. Mr Martin Couch (Martin.Couch@babcockinternational.com) (industrial collaborator) remarks: The new autopilot design possesses a wide operational envelope with reduced cost and should be commercially exploited. Also the technology can easily be transferred to the unmanned aerial vehicle field.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -