A hybrid coordination controller for speed and heading control of underactuated unmanned surface vehicles system. (15th March 2019)

• Record Type: Journal Article
• Authors: Lv, Chengxing; Yu, Haisheng; Chi, Jieru; Xu, Tao; Zang, Hechao; Jiang, Hui lue; Zhang, Zhaowen
• Is Part Of: Ocean engineering. Volume 176(2019)
• Page Start: 222
• Page End: 230
• Publication Date: 2019-03-15
• Subjects: Unmanned surface vehicles -- Backstepping approach -- The port-controlled Hamiltonian -- Coordinate control -- Speed and heading control; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2019.02.007
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: The speed and heading control problem of an underactuated unmanned surface vehicle (USV) has been studied in this paper. The thrust system consists of two propellers which are driven by two electric-powered motors. A hybrid coordination control strategy based on signal and energy method is proposed. The energy controller uses the Port-Controlled Hamiltonian (PCH) control approach, and the signal controller uses the Lyapunov's direct method and backstepping approach. The design of coordination control strategy is used to adjust the strength of the signal controller and energy controller. Simulation results confirm the validity and stability of control algorithm, and the results show that the proposed algorithm can quickly track signals with energy optimization. Highlights: A hybrid coordination controller for speed and heading control of underactuated Unmanned Surface Vehicles system is proposed. The design of coordination control strategy is used to adjust the strength of the signal controller and energy controller. The proposed algorithm can quickly track signals with energy optimization.