Title :
PD based DIDO control method for unmanned surface vehicle to follow linear path
Author :
Jianhua Wang ; Mengkai Zhao ; Xiaoyan Pei ; Jianxin Chu
Author_Institution :
Marine Technol. & Control Eng. Key Lab., Shanghai Maritime Univ., Shanghai, China
Abstract :
A method for Unmanned Surface Vehicle (USV) to follow linear path is proposed, considering both position error and course error. Based on dynamic model of the USV which is thrust with twin fixed propellers driven by DC electric motors, Cross Track Error and Line of Sight are combined into DIDO controller based on PD. The simulation experiment is conducted and compared with the method using Cross Track Error only. The results show that the proposed method performs better than the method using only Cross Track Error when the heading angle error is large.
Keywords :
mobile robots; position control; remotely operated vehicles; ships; telerobotics; DC electric motors; DIDO control method; PD control method; USV; course error; cross track error; dynamic model; follow linear path; line of sight; linear path; position error; twin fixed propellers; unmanned surface vehicle; Equations; Mathematical model; PD control; Propellers; Sea surface; Vehicles; Voltage control; DIDO; PD; Unmanned Surface Vehicle; following path; simulation;
Conference_Titel :
OCEANS 2014 - TAIPEI
Conference_Location :
Taipei
Print_ISBN :
978-1-4799-3645-8
DOI :
10.1109/OCEANS-TAIPEI.2014.6964529
