Closed-Loop Integral Line-of-Sight Guidance Law Based Adaptive Fuzzy Path-Following Control of Hovercraft

This paper proposes a closed-loop path-following control strategy for hovercraft based on an improved Integral line-of-sight (ILOS) guidance law. Unlike the traditional ILOS guidance law, the look-ahead distance function is composed of two cross tracking errors, which can make the hovercraft approach the desired path faster. The control parameter function is composed of the ship speed and cross tracking error, which can faster response and reduce system overshoot. Then, a heading controller is designed using the adaptive fuzzy sliding mode control to track the desired path, and the fuzzy logic is used to estimate and compensate the switching gain of the sliding mode control, which eliminates system chattering and improves the control quality of the control system. The effectiveness of the improved Integral line-of-sight guidance law for path-following is verified via experiments.