Safety-Critical Disturbance Rejection Control for Capsizing Prevention of an Unmanned Sailboat

The capsizing of unmanned sailboats primarily results from strong winds, high waves, and improper maneuvering. However, most existing unmanned sailboat control approaches do not explicitly address roll dynamics or capsizing prevention. This paper investigates the capsizing prevention of an unmanned sailboat in the presence of the model uncertainties and unknown environmental disturbances. A safety-critical disturbance rejection control method is proposed to ensure the safe maneuvering of unmanned sailboat. Specifically, an extended state observer is presented to not only filter the velocity measurements, but also estimate the total disturbance composed by the model uncertainties and unknown environmental…

• NN
  National Natural Science Foundation of China

  Awards: 52425102, 52088102
• NS
  Natural Science Foundation of Guangdong Province

  Award: 2024A1515011731