Course control and verification of unmanned surface vehicle based on trajectory linearization

  • YANG Yu ,
  • FAN Yun-sheng ,
  • LIU Lei ,
  • TAN Yuan-yuan
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  • (College of Marine Electrical Engineering,Dalian Maritime University, Dalian 116026, China)

Received date: 2020-09-16

  Revised date: 2020-10-23

  Online published: 2020-11-10

Abstract

In order to solve the precise control problem of course tracking and keeping of unmanned surface vehicle (USV) in the real marine environment, taking “Lanxin” USV as the research object, the model parameters were identified, and then the maneuvering motion model was established. A course control method of USV was designed and verified based on trajectory linearization with time scale separation of fast and slow loops . Considering the influence of unmodeled dynamics and marine environment disturbance on the motion of USV, a trajectory linearization course control method based on nonlinear disturbance observer was proposed by combining nonlinear disturbance observer with trajectory linearization control to improve the accuracy and robustness of course control. Simulation results verify the control performance of the proposed method. The correctness and effectiveness of the trajectory linearization control method in practical engineering application are verified by the real ship experiment of “Lanxin” USV in the sea area outside Lingshui campus of Dalian Maritime University.

Cite this article

YANG Yu , FAN Yun-sheng , LIU Lei , TAN Yuan-yuan . Course control and verification of unmanned surface vehicle based on trajectory linearization[J]. Journal of Dalian Maritime University, 2021 , 47(1) : 9 -17 . DOI: 10.16411/j.cnki.issn1006-7736.2021.01.002

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