103. Straight-line path following for asymmetric unmanned platform with disturbance estimation

Yu-long Hua1, Xiao-zhou Zheng2, Bao-shan Chi3, Wei Sun4

Department of Mechanical Engineering, Academy of Armored Forces Engineering, Beijing 100072, China

1Corresponding author

E-mail: 1huayulong2010@163.com, 2619440725@qq.com, 3CBS_10072@163.com, 4zhaoyaoshijie@126.com

Received 20 April 2016; received in revised form 19 September 2016; accepted 24 September 2016

DOI https://doi.org/10.21595/jme.2016.17743

Abstract. The problem of straight-line path following for asymmetric unmanned platform exposed to unknown disturbances was addressed in this paper. The mathematical model of asymmetric unmanned platform was established and the inputs in sway and yaw directions were decoupled, which facilitated the establishment of control strategy of path following. The guidance law and the cross-track error were derived from the classical line-of-sight (LOS) guidance principle. And the equilibrium point of the cross-track error was proven to be uniformly semiglobally exponentially stable (USGES), which guaranteed the exponential convergence to zero. A new disturbance estimation law was developed by adding a linear item of the estimation error into the classical one, which improved the principle’s precision and sensitivity dramatically. The control strategy was developed based on the integrator backstepping technique and the new disturbance estimation law, which made the equilibrium system to be uniformly globally asymptotically stable (UGAS). Computer simulations were conducted to verify the effectiveness of the estimation and control laws during straight-line path following for asymmetric unmanned platform in the presence of unknown disturbances.

Keywords: asymmetric unmanned platform, disturbance estimation, integrator backstepping technique, line-of-sight guidance, path following.

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Cite this article

Hua Yu‑long, Zheng Xiao‑zhou, Chi Bao‑shan, Sun Wei Straight‑line path following for asymmetric unmanned platform with disturbance estimation. Journal of Measurements in Engineering, Vol. 4, Issue 3, 2016, p. 173‑182.

 

Journal of Measurements in Engineering. September 2016, Volume 4, Issue 3

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