Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

Abstract

The response model of podded propulsion unmanned surface vehicle (USV) is established and identified; then considering the USV has characteristic of high speed, the course controller with fast convergence speed is proposed. The idea of MMG separate modeling is used to establish three-DOF planar motion model of the podded propulsion USV, and then the model is simplified as a response model. Then based on field experiments, the parameters of the response model are obtained by the method of system identification. Unlike ordinary ships, USV has the advantages of fast speed and small size, so the controller needs fast convergence speed and strong robustness. Based on the theory of multimode control, a fast nonsingular terminal sliding mode (FNTSM) course controller is proposed. In order to reduce the chattering of system, disturbance observer is used to compensate the disturbance to reduce the control gain and RBF neural network is applied to approximate the symbolic function. At the same time, fuzzy algorithm is employed to realize the mode soft switching, which avoids the unnecessary chattering when the mode is switched. Finally the rapidity and robustness of the proposed control approach are demonstrated by simulations and comparison studies.

An autonomous dynamic collision avoidance control method for unmanned surface vehicle in unknown ocean environment

“…The maneuvering model of the Lanxin USV plane motion is described by the nonlinear Norrbin model, which has been proved to be applicable to podded propulsion Lanxin USV in the work of Mu et al 18 T _ r þ r þ ar 3 ¼ Kd ð3Þ…”

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

“…With the efforts of scientific research all over the world, SMC is gradually applied to the control of robots [34], aircrafts [35], ships [36] and so on. In this section, surge control law and yaw control law are proposed based on a first-order sliding mode and a second-order sliding mode, respectively.…”

“…where k ue and η u are two positive design parameters; sgn(•) represents the symbol function [36]. Therefore, the corresponding surge control law is selected as…”

An Automatic Navigation System for Unmanned Surface Vehicles in Realistic Sea Environments

“…In the paper, the Lanxin USV, which is a small intelligence equipment platform of Dalian Maritime University [30], is used as the research object. The USV is a pod propulsion vessel, so its executive system command is composed of thruster speed and propulsion angle.…”