A hybrid coordination controller for speed and heading control of underactuated unmanned surface vehicles system

Authors

Chengxing Lv, Haisheng Yu, Jieru Chi, Tao Xu, Hechao Zang, Hui lue Jiang, Zhaowen Zhang

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.

Keywords

backstepping approach, coordinate control, speed and heading control, the port-controlled hamiltonian, unmanned surface vehicles

Citation

• Journal: Ocean Engineering
• Year: 2019
• Volume: 176
• Issue:
• Pages: 222–230
• Publisher: Elsevier BV
• DOI: 10.1016/j.oceaneng.2019.02.007

BibTeX

@article{Lv_2019,
  title={{A hybrid coordination controller for speed and heading control of underactuated unmanned surface vehicles system}},
  volume={176},
  ISSN={0029-8018},
  DOI={10.1016/j.oceaneng.2019.02.007},
  journal={Ocean Engineering},
  publisher={Elsevier BV},
  author={Lv, Chengxing and Yu, Haisheng and Chi, Jieru and Xu, Tao and Zang, Hechao and Jiang, Hui lue and Zhang, Zhaowen},
  year={2019},
  pages={222--230}
}

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