Backstepping-Based Interception Control for an Underactuated ASV with Experimental Validation
This article puts forward an interception control system designed specifically for an Autonomous Surface Vehicle (ASV). The prime goal of this system is to capture a moving target whose speed may vary, even when there are unknown external disturbances such as waves, wind, and stream currents. By applying the sophisticated backstepping method, it can guarantee that the relative speed between the interceptor ASV and the target globally gets close to a neighborhood of the desired value. The effectiveness of this interception control approach has been thoroughly verified through simulations as well as practical experimental tests.
Authors
- Wei Xie (ORCID: https://orcid.org/0000-0003-4984-6659)
- Zhihuan Hu (ORCID: https://orcid.org/0000-0003-4600-9281)
- Defeng Wu (ORCID: https://orcid.org/0000-0001-7971-1013)
- Kairong Duan (ORCID: https://orcid.org/0000-0003-1375-1826)
- Weidong Zhang (ORCID: https://orcid.org/0000-0003-4600-7382)
- Bin Lin (ORCID: https://orcid.org/0009-0008-5466-2655)
- Zhijian Sun (ORCID: https://orcid.org/0000-0001-5643-6311)
- Shangkun Zhong (ORCID: https://orcid.org/0009-0005-0734-1224)
Institutions
- Jimei University (CN)
- Shanghai Jiao Tong University (CN)
- Hainan University (CN)
- University of Science and Technology Beijing (CN)
Publication Details
- Published
- 2024-11-01
- DOI
- https://doi.org/10.1109/cac63892.2024.10865518
- Primary Topic
- Guidance and Control Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- National Natural Science Foundation of China
- National Key Research and Development Program of China