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...
Reliable path tracking is crucial for autonomous underwater vehicles (AUVs) operating in dynamic and uncertain marine environments. However, traditional line-of-sight (LOS) guidance methods rely on asymptotic convergence, resulting in slow disturbance recovery and unpredictable tracking performance. Existing robust con...
Autonomous underwater vehicles (AUVs) have been extensively employed in diverse marine applications, where depth-tracking control remains a critical technical challenge. Although previous studies have investigated various guidance law designs for underactuated AUVs, compensation for the attack-angle effect induced by h...
This research presents a comparative study of three geometric path-following guidance algorithms: Carrot Chasing (CC), Pure Pursuit Line of Sight (PLOS), and Nonlinear Guidance Law (NLGL) implemented within a hierarchical UAV autopilot framework using a Backstepping (BKS) control approach. The study aims to evaluate an...
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...
This paper proposes a novel Adaptive Nonsingular Fixed-Time Path Following Control scheme for underactuated unmanned surface vehicles navigating under unknown uncertainties, environmental disturbances, and asymmetric input saturation constraints. The main contribution is the integration of a Fixed-Time Line-of-Sight gu...
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