Research Article
Research on Course Control of Unmanned Surface Vehicle
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@INPROCEEDINGS{10.1007/978-3-030-57115-3_12, author={Xinming Hu and Huaichun Fu and Qixing Cheng}, title={Research on Course Control of Unmanned Surface Vehicle}, proceedings={Bio-inspired Information and Communication Technologies. 12th EAI International Conference, BICT 2020, Shanghai, China, July 7-8, 2020, Proceedings}, proceedings_a={BICT}, year={2020}, month={8}, keywords={USV Fuzzy control Course control Model identification}, doi={10.1007/978-3-030-57115-3_12} }- Xinming Hu
Huaichun Fu
Qixing Cheng
Year: 2020
Research on Course Control of Unmanned Surface Vehicle
BICT
Springer
DOI: 10.1007/978-3-030-57115-3_12
Abstract
The unmanned surface vehicle (USV) system has the characteristics of large inertia, long time delay and under-actuated, the traditional linear control method is not robust enough to achieve course control. Therefore, a course controller of USV has been proposed based upon the fuzzy control theory in this paper. On this basis, the mathematical model of USV has been established and the model parameter has also been identified by least-square method in different speed. In addition, a hardware platform of USV are obtained. The control method has been verified and validated through computer simulation and marine experiment; the results validate that the course control of USV has an excellent effect.
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