This paper focuses on the speed and yaw control problem for an underactuated unmanned surface vessel (USV) with only two propellers navigating through multiple way-points using the line-of-sight (LOS) algorithm. The speed and yaw dynamics are transformed into a cascaded nonlinear system that can be reduced to the stabilization control problem of the surge and yaw subsystems. The proposed surge speed controller uses a distance and heading error feedback control to vary its speed accordingly while the heading subsystem is stabilized via a finite-time controller. Comparisons of the traditional yaw rate stabilization control techniques are made with the proposed finite-time controller and shown to be inferior to the finite-time controller in terms of convergence rate and robustness. The stability and effectiveness of the proposed control system is demonstrated and validated by simulation results of a modeled kayak.
Skip Nav Destination
ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 4–7, 2013
Portland, Oregon, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5591-1
PROCEEDINGS PAPER
A Combined Speed and Finite-Time Yaw Controller for an Underactuated Unmanned Surface Vessel Using Way-Point Navigation
Brendan Baker,
Brendan Baker
University of Texas at San Antonio, San Antonio, TX
Search for other works by this author on:
Chunjiang Qian,
Chunjiang Qian
University of Texas at San Antonio, San Antonio, TX
Search for other works by this author on:
Brent Nowak
Brent Nowak
University of Texas at San Antonio, San Antonio, TX
Search for other works by this author on:
Brendan Baker
University of Texas at San Antonio, San Antonio, TX
Chunjiang Qian
University of Texas at San Antonio, San Antonio, TX
Brent Nowak
University of Texas at San Antonio, San Antonio, TX
Paper No:
DETC2013-12260, V004T08A002; 10 pages
Published Online:
February 12, 2014
Citation
Baker, B, Qian, C, & Nowak, B. "A Combined Speed and Finite-Time Yaw Controller for an Underactuated Unmanned Surface Vessel Using Way-Point Navigation." Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. Portland, Oregon, USA. August 4–7, 2013. V004T08A002. ASME. https://doi.org/10.1115/DETC2013-12260
Download citation file:
31
Views
Related Proceedings Papers
Related Articles
Internal Model Control for Dynamic Systems With Preceded Backlash
J. Dyn. Sys., Meas., Control (March,2009)
An Adjustable Model Reference Adaptive Control for a Flexible Launch Vehicle
J. Dyn. Sys., Meas., Control (July,2010)
Discrete-Time Sliding-Mode Switching Control Scheme With Disturbance Observer and Its Application to Superheated Steam Temperature Systems
J. Dyn. Sys., Meas., Control (October,2016)
Related Chapters
Auto-Tuning Method of PIDA Controller Based Ongain Margin and Phase Margin
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
A Semi-Adaptive Fractional Order PID Control Strategy for a Certain Gun Control Equipment
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
Dynamic Simulations to Become Expert in Order to Set Fuzzy Rules in Real Systems
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)