This paper proposes a novel nonlinear control scheme based on energy-shaping (ES) principle and state error port-controlled Hamiltonian (PCH) systems for unmanned surface vehicles (USV) system. The PCH model of three degrees of freedom for USV kinetics system is established. By the ES principle, interconnection assignment and damping injection method is applied to the speed and heading control of the closed-loop USV system to realize an overall stability of control mechanism. Simulation results show that the validity and stability of control algorithm can be satisfied with the performance in speed and heading tracking of which the high simplification and portability make it applicable to the various region.

The oscillation‐driven microbubble generation in a self‐excited fluidic oscillator is explored in this work. By investigating the behaviors of bubbles, it is noted that for relatively low liquid flow rate, bubbles move upward directly and breakup does not occur inside the chamber region. Interestingly, the existence of bubbles could destroy the structure of flow field and even affect the oscillation. Nevertheless, for relatively high liquid flow rate, the bubbles would not be able to change the flow field structure of liquid phase effectually. Meanwhile, binary, shear‐off‐induced and a kind of dynamic erosive breakup of the bubbles could occur for the effects of oscillations of liquid main jet. Abundant microbubbles could be produced mainly by the dynamic erosive breakup. The oscillation is only induced by the Coanda effect without any moving parts. Nevertheless, it is able to supply a robust oscillating turbulent field to enhance the breakup of bubbles dramatically.