ESO-Based Disturbance Compensation Guidance Law Design for the Unmanned Surface Vessel with Non-cooperative Target

Aiming to intercept non-cooperative targets when global positioning signals are lost or jammed, an Extended State Observer (ESO) based disturbance compensation guidance law for the unmanned surface vessel (USV) is developed. This interception guidance law addresses the scenario where the relative velocity and target maneuver acceleration cannot be directly measured. To circumvent nonlinearities and parameter coupling, a simplified relative interception dynamics model is proposed. Furthermore, an extended state observer is designed to estimate the unmeasured state and the unknown disturbance. Utilizing these estimations, an ESO-based disturbance compensation guidance law (ESO-DCGL) is developed, which can compensate for target maneuvers and track the desired trajectory. Simulation results demonstrate the effectiveness of this guidance law in intercepting non-cooperative targets with high maneuverability.