Abstract: Suffering from actuator failure and complex sideslip angle, the motion control of a sailboat becomes challenging. In this paper, an improved double finite-time observer-based line-of-sight guidance and finite-time control (IDFLOS-FC) scheme is presented for path following of sailboats. The salient features of the proposed IDFLOS-FC scheme are as follows: (1) Considering the problem of actuator failure, an actuator failure model is introduced into the dynamics model of a sailboat. (2) The time-varying sideslip angle of the sailboat is accurately observed by the double finite-time sideslip observers (DFSOs), which reduces the error in line-of-sight (LOS) guidance. (3) A radial basis function (RBF) neural network is used to fit the uncertainty of the model, and the upper bound of the sum of fault effects and external disturbances is estimated based on adaptive theory, so that the controller has accurate tracking and interference suppression. (4) According to the Lyapunov method, the system is finite-time stable. Finally, simulation was used to validate the effectiveness of the method.

具有执行器故障和未知侧滑角的帆船有限时间路径跟踪控制

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