提出球面幅相模型，让3D导航更稳定可靠。
A spherical amplitude-phase formulation for 3-D adaptive line-of-sight (ALOS) guidance with USGES stability guarantees
- 用新定义的垂直蟹行角构建球面幅相模型
- 无需恒定高度或零横向偏移假设，仍保稳定性
- 适用于三维复杂运动，适合无人艇/飞行器
最近提出的三维自适应视线（ALOS）路径跟踪算法处理了海船、飞机和无人平台在风、浪、洋流等环境干扰下的耦合运动动力学，并通过基于机体速度的幅相表示建立了统一半全局指数稳定（USGES）性。然而，该分析仅限于直线路径，且需严格假设才能保证垂直蟹行角估计误差收敛至零。本文重新审视ALOS框架，提出一种新的球面幅相设计模型，采用垂直蟹行角的替代定义。所提公式使稳定性证明大幅简化，同时保持直线路径下的USGES性质，消除了对恒定高度/深度或零水平蟹行角的限制，适用于含非零滚转、俯仰及飞行路径角的一般三维运动。此外，我们还证明该USGES结果可推广至一类三维曲线路径。
原文摘要 · Abstract (English)
A recently proposed 3-D adaptive line-of-sight (ALOS) path-following algorithm addressed coupled motion dynamics of marine craft, aircraft and uncrewed vehicles under environmental disturbances such as wind, waves and ocean currents. Stability analysis established uniform semi-global exponential stability (USGES) using a body-velocity-based amplitude-phase representation of the North-East-Down kinematic differential equations. However, the analysis is limited to straight-line paths, and restrictive assumptions are needed to ensure convergence of the vertical crab angle estimation error to zero. In this paper, we revisit the ALOS framework and introduce a novel spherical amplitude-phase design model that uses an alternative definition of the vertical crab angle. Our proposed formulation enables a significantly simplified stability proof, while retaining the USGES property for straight-line paths, removing restrictive assumptions on constant altitude/depth or zero horizontal crab angle, and remaining valid for general 3-D motion with nonzero roll, pitch and flight-path angles. We also show that the USGES result extends to a class of curved 3-D paths.
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