Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any sufficiently smooth path can be seen as a continuum of virtual targets moving along a specified path, which the pursuer is trying to catch. Contrary to the traditional path-following methods, this work develops an integrated guidance and control approach capable of following any smooth path (unlike the ones composed of a finite number of straight lines and circles). The approach relies on steering the vehicle such that its velocity vector aligns with the line-of-sight (the line joining the moving virtual target and the surface vessel), resulting in a tail-chase scenario. This leads to a path-following behavior. This integrated approach also overcomes the disadvantages inherent in the traditional two-loop-based approaches. Additionally, the proposed work takes into account the asymmetric actuator constraints in the design, which makes the design close to realistic scenarios. Furthermore, the control law has been derived within a nonlinear framework using sliding mode, and thus remains applicable for a wider envelope. The stability of the proposed control strategy is formally proven. Numerical simulations for various specified paths validate the controller's accurate path-following performance.
Cooperative Integrated Estimation-Guidance for Simultaneous Interception of Moving Targets
Intelligent Systems & Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay（智能系统与控制实验室，航空航天工程系，印度理工学院班加罗尔）；Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati（智能系统引导、自主、学习与控制实验室，航空航天工程与工程力学系，辛辛那提大学）
Bounded-Input True Proportional Navigation for Impact-Time Control
Intelligent Systems & Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay（智能系统与控制（ISaC）实验室，航空航天工程系，印度理工学院班加罗尔）；Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati（智能系统引导、自主、学习与控制（GALACxIS）实验室，航空航天工程与工程力学系，辛辛那提大学）
Integrated Lander-Propulsion-GNC Framework for Autonomous Lunar Powered Descent
Turkuzaysan Inc.（Turkuzaysan公司）；Puura Inc.（Puura公司）；Final Proximity Space Systems Inc.（Final Proximity Space Systems公司）；TUBITAK Space Technologies Research Institute（TUBITAK空间技术研究研究所）
A Corrector-aided Look-ahead Distance-based Guidance for Online Reference Path Following with an Efficient Mid-course Guidance Strategy
Department of Aerospace Engineering, Indian Institute of Technology Madras（航空航天工程系，印度理工学院马德拉斯学院）；Department of Aerospace Engineering, University of Illinois Urbana–Champaign（航空航天工程系，伊利诺伊大学厄巴纳-香槟分校）
