ESO-based line-of-sight guidance law for straight line path following with exact sideslip compensation

This paper presents an extended state observer (ESO) based line-of-sight guidance law for straight line path following of underactuated marine surface vessels. The line-of-sight guidance method and reduced-order ESO technique are brought together to design the path following controller. By using the reduced-order ESO, the time-varying vehicle sideslip angle due to environmental disturbances can be exactly identified. The input-to-state stability of the closed-loop network system is established via cascade theory. Simulation results demonstrate the effectiveness of the proposed method.