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arXiv · 2410.06998

An Improved ESO-Based Line-of-Sight Guidance Law for Path Following of Underactuated Autonomous Underwater Helicopter With Nonlinear Tracking Differentiator and Anti-saturation Controller

Haoda Li·Zichen Liu·Jin Huang·Xinyu An·Ying Chen
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Abstract

This paper presents an Improved Extended-state-observer based Line-of-Sight (IELOS) guidance law for path following of underactuated Autonomous Underwater helicopter (AUH) utilizing a nonlinear tracking differentiator and anti-saturation controller. Due to the high mobility of the AUH, the classical reduced-order Extended-State-Observer (ESO) struggles to accurately track the sideslip angle, especially when rapid variation occurs. By incorporating the nonlinear tracking differentiator and anti-saturation controller, the IELOS guidance law can precisely track sideslip angle and mitigate propeller thrust buffet compared to the classical Extended-state-observer based Line-of-Sight (ELOS) guidance law. The performance of ESO is significantly influenced by the bandwidth, with the Improved Extended-State-Observer (IESO) proving effective at low bandwidths where the classical ESO falls short. The paper establishes the input-to-state stability of the closed-loop system. Subsequently, simulation and pool experimental results are showcased to validate the effectiveness of the IELOS guidance law, which outperforms both the Line-of-Sight (LOS) and Adaptive Line-of-Sight (ALOS) guidance laws in terms of performance.

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BibTeXRIS

Haoda Li, Zichen Liu, Jin Huang, Xinyu An, Ying Chen. 2024-10-09. An Improved ESO-Based Line-of-Sight Guidance Law for Path Following of Underactuated Autonomous Underwater Helicopter With Nonlinear Tracking Differentiator and Anti-saturation Controller. https://doi.org/10.1016/j.oceaneng.2025.120456

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