Aug 2026· 2026 6th International Conference on Mechanical, Electronics and Electrical and Automation Control (METMS)· pp. 648-652· 0 citations· 16 references
Abstract
A reduced-order extended-state-observer-based line-of-sight (ELOS) method is proposed for robust path following of a low-speed kelp harvesting vessel subject to sideslip. The observer estimates the equivalent lateral disturbance without re-estimating the measurable cross-track error, and the reconstructed sideslip corrects the reference heading. Noise-free straight- and curved-path cases are retained, and a 20 -run Monte Carlo test adds time-varying current, harvesting-load fluctuations, and navigation noise. Against LOS, integral LOS, adaptive LOS, and full-order ESO-ELOS under identical conditions, the proposed method obtains a cross-track root-mean-square error of 0.117 m with a standard deviation of 0.001 m, reductions of 15.0, 37.9, 33.1, and 7.2 percent, respectively. Its maximum error is 0.218 m and its sideslip-estimation root-mean-square error is 0.544 degrees. A gain sweep identifies 0.30 per second as a practical tracking-noise compromise. The results demonstrate improved disturbance rejection with one dynamic observer state.
Reverse path tracking of multi-trailer systems is challenging because tractor steering affects the following bodies only through passive hitch joints, causing tracking-error propagation and increasing the risk of jackknifing. This paper proposes a backstepping-based recursive virtual-heading (BS-RVH) controller that co...
Heeseok Shin, Myeong-jun Kim, Heechang Moon et al.· Actuators· 0 citations
To address sustained deviation from coverage lanes when an unmanned surface vehicle (USV) executes a complete boustrophedon coverage path under current disturbances, this study proposes an adaptive current-aware line-of-sight (ACA-LOS) guidance method based on online current estimation. The local current is estimated o...
Yu Liu, Haijun Lyu, Xin-Ran Liu et al.· Journal of Marine Science an...· 0 citations
To fulfill the requirements for rapid development of high-performance AUV motion control systems, a three-dimensional (3D) path- following control system is designed and implemented based on the MOOS-IvP/ArduSub architecture. Using Lyapunov stability theory, an adaptive line-of-sight (ALOS) guidance law with variable l...
Chenyang Shan, Wen-Kui Li, Yi-Jun Liu et al.· Journal of Marine Science an...· 0 citations
This paper proposes a control strategy for path following that is model-free and relies solely on deceleration for skid-steering planetary rovers navigating deformable loose terrain under continuously imposed traction asymmetry. While conventional controllers that are based on kinematics frequently cause slip-sinkage e...
Ryuya Matsuoka, Keisuke Takehana, Kentaro Uno et al.· 0 citations
This study presents a two-level closed-loop calibration framework that combines L2-norm displacement feedback, normalized angular increment integration, relay control with a tolerance deadband, and zero-velocity-based adaptive covariance switching that can reduce both motion-dependent odometry scale errors and stationa...
Tursun Mamat, Long-Fei Li, Jiake Wuyuncaicike et al.· Italian National Conference...· 0 citations
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