ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target

Zhiteng Lai; Guang Zhai; Li Ma; Shijun Wei; Zhang Chen; Bin Liang

doi:10.1109/IECON51785.2023.10312490

ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target

Zhiteng Lai, Guang Zhai^*, Li Ma, Shijun Wei, Zhang Chen, Bin Liang

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
ISBN (Electronic)	9798350331820
DOIs	https://doi.org/10.1109/IECON51785.2023.10312490
Publication status	Published - 2023
Event	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 - Singapore, Singapore Duration: 16 Oct 2023 → 19 Oct 2023

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
ISSN (Print)	2162-4704
ISSN (Electronic)	2577-1647

Conference

Conference	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Country/Territory	Singapore
City	Singapore
Period	16/10/23 → 19/10/23

Keywords

Disturbance compensation
Extended state observer
Interception guidance law
Unmanned surface vessel

Access to Document

10.1109/IECON51785.2023.10312490

Cite this

Lai, Z., Zhai, G., Ma, L., Wei, S., Chen, Z., & Liang, B. (2023). ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target. In IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON51785.2023.10312490

@inproceedings{e6775d07671140bab4536b339f7e7fa6,

title = "ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target",

abstract = "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.",

keywords = "Disturbance compensation, Extended state observer, Interception guidance law, Unmanned surface vessel",

author = "Zhiteng Lai and Guang Zhai and Li Ma and Shijun Wei and Zhang Chen and Bin Liang",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 ; Conference date: 16-10-2023 Through 19-10-2023",

year = "2023",

doi = "10.1109/IECON51785.2023.10312490",

language = "English",

series = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE Computer Society",

booktitle = "IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society",

address = "United States",

}

Lai, Z, Zhai, G, Ma, L, Wei, S, Chen, Z & Liang, B 2023, ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target. in IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023, Singapore, Singapore, 16/10/23. https://doi.org/10.1109/IECON51785.2023.10312490

ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target. / Lai, Zhiteng; Zhai, Guang; Ma, Li et al.
IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2023. (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 -

ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this