Prescribed-time observer-based sideslip compensation in USV line-of-sight guidance

This paper introduces a prescribed-time extended state observer (PTESO) guidance law specifically developed for the path tracking of underactuated unmanned surface vehicles (USVs) navigating under time-varying ocean current conditions. The PTESO is utilized for accurate determination of the sideslip angle of the USV, particular during maneuvering along curved trajectories or in the presence of time-varying ocean disturbances. This process guarantees a prompt and accurate calculation of the sideslip angle, thus enabling more accurate path tracking in the presence of external disturbances caused by wind, waves, and currents. The stability of the closed-loop system's input-state is established using cascade theory. Furthermore, in order to improve the accuracy of USV positioning, the paper suggests utilizing ultra-wideband (UWB) technology for USV localization. A layout scheme has been developed for the placement of UWB devices on the vessel, and an equation has been derived for calculating the heading angle. The proposed approach's effectiveness is substantiated through the validation of simulation results, while the feasibility of the method is confirmed by experimental results. •The prescribed-time extended state observer is employed for the estimation of sideslip angle.•It effectively suppresses the initial peak phenomenon of the extended state observer (ESO).•Ultra-Wideband (UWB) technology is applied to ship positioning.