Authors

Chengxing Lv, Haisheng Yu, Zhili Hua, Lei Li, Jieru Chi

Abstract

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.

Citation

  • Journal: Mathematical Problems in Engineering
  • Year: 2018
  • Volume: 2018
  • Issue:
  • Pages: 1–9
  • Publisher: Wiley
  • DOI: 10.1155/2018/7371829

BibTeX

@article{Lv_2018,
  title={{Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle}},
  volume={2018},
  ISSN={1563-5147},
  DOI={10.1155/2018/7371829},
  journal={Mathematical Problems in Engineering},
  publisher={Wiley},
  author={Lv, Chengxing and Yu, Haisheng and Hua, Zhili and Li, Lei and Chi, Jieru},
  year={2018},
  pages={1--9}
}

Download the bib file

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