TY - GEN
T1 - ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target
AU - Lai, Zhiteng
AU - Zhai, Guang
AU - Ma, Li
AU - Wei, Shijun
AU - Chen, Zhang
AU - Liang, Bin
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Aiming to intercept non-cooperative targets when global positioning signals are lost or jammed, an Extended State Observer (ESO) based disturbance compensation guidance law for the unmanned surface vessel (USV) is developed. This interception guidance law addresses the scenario where the relative velocity and target maneuver acceleration cannot be directly measured. To circumvent nonlinearities and parameter coupling, a simplified relative interception dynamics model is proposed. Furthermore, an extended state observer is designed to estimate the unmeasured state and the unknown disturbance. Utilizing these estimations, an ESO-based disturbance compensation guidance law (ESO-DCGL) is developed, which can compensate for target maneuvers and track the desired trajectory. Simulation results demonstrate the effectiveness of this guidance law in intercepting non-cooperative targets with high maneuverability.
AB - Aiming to intercept non-cooperative targets when global positioning signals are lost or jammed, an Extended State Observer (ESO) based disturbance compensation guidance law for the unmanned surface vessel (USV) is developed. This interception guidance law addresses the scenario where the relative velocity and target maneuver acceleration cannot be directly measured. To circumvent nonlinearities and parameter coupling, a simplified relative interception dynamics model is proposed. Furthermore, an extended state observer is designed to estimate the unmeasured state and the unknown disturbance. Utilizing these estimations, an ESO-based disturbance compensation guidance law (ESO-DCGL) is developed, which can compensate for target maneuvers and track the desired trajectory. Simulation results demonstrate the effectiveness of this guidance law in intercepting non-cooperative targets with high maneuverability.
KW - Disturbance compensation
KW - Extended state observer
KW - Interception guidance law
KW - Unmanned surface vessel
UR - http://www.scopus.com/inward/record.url?scp=85179525206&partnerID=8YFLogxK
U2 - 10.1109/IECON51785.2023.10312490
DO - 10.1109/IECON51785.2023.10312490
M3 - Conference contribution
AN - SCOPUS:85179525206
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE Computer Society
T2 - 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Y2 - 16 October 2023 through 19 October 2023
ER -