Dynamic modelling and controlling Unmanned Surface Vehicle

Abstract

Unmanned Surface Vehicle (USV) is vessel that can move without human to control. USV is capable of moving using the thrust force and can maneuver using the deflection angle of rudder. USV has a 6-degree of freedom which are non-linear system that can be approached with the 3-degrees of freedom. The purpose of dynamic modeling of USV is to achieve the models and parameters of real USV. Non-linear least square Levenberg-Marquardt method can be applied to estimate USV model as a non-linear system. The purpose of controlling USV is to set the surge velocity and the yaw-rate so that the USV movement can be controlled. Proportional integral controller can be used to manipulate the velocity and to accelerate the response speed of the USV’s velocity. Parameters validation results show that the dynamic modeling methods could generate the parameters nearly equal to the true parameters. This is evidenced by the relatively small RMSE value in x-axis acceleration, y-axis acceleration, and yaw-axis acceleration. The result of controller testing illustrate that the designed controller can adjust the surge velocity and yaw-rate and fit the time constant controller design specification. Further, the testing show that the responses have zero steady state errors.