Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths With Anti-Windup Guarantees

Abstract

This letter considers integral line-of-sight (LOS) guidance for curved path following for underactuated marine vehicles. The proposed guidance scheme renders the resulting closed-loop system input-to-state stable (ISS) with respect to a function of the vehicle’s velocities. Moreover, if the forward and sideways velocities are proportional, we show that the origin of the closed-loop system is uniformly globally asymptotically stable (UGAS). Remarkably, these results are derived without the standard assumption of a small crab angle. Furthermore, we discuss how the path parameter should be selected to ensure that the along-track error remains zero for all time, and we show the connection between selecting the path parameter through differential equations and optimization. Finally, we demonstrate the effectiveness of the proposed approach through numerical simulations of an underwater vehicle.