Adaptive Line-of-Sight Path Following for Curved Paths as a Maneuvering Problem
Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Ytterstad Pettersen · 2024
This paper presents the maneuvering adaptive line-of-sight (MALOS) algorithm, which guarantees global asymptotic path following and crab angle estimation for a class of underactuated vehicles in the presence of an unknown crab angle. Notably, MALOS is the first line-of-sight (LOS) guidance scheme with integral action for curved paths with truly global stability results, and not just global under the assumption that the path parameter can be selected such that the along-track error is identically zero. A case study of an autonomous underwater vehicle demonstrates the effectiveness of the MALOS algorithm.