Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Lv, Chengxing; Yu, Haisheng; Hua, Zhili; Li, Lei; Chi, J.Y.

doi:10.1155/2018/7371829

Cited by 13 publications

(5 citation statements)

References 18 publications

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“…The diversity of their applications requires solving a number of technical issues. They pertain to the main systems of unmanned vessels: navigation [28,29], steering [30,31], communication [32], power and propulsion [33]. One of the fields in which unmanned vessels are increasingly used is in marine and inland hydrography.…”

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confidence: 99%

Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Marchel

Specht

2020

Energies

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Unmanned Surface Vehicles (USV) are increasingly used to perform numerous tasks connected with measurements in inland waters and seas. One of such target applications is hydrography, where traditional (manned) bathymetric measurements are increasingly often realized by unmanned surface vehicles. This pertains especially to restricted or hardly navigable waters, in which execution of hydrographic surveys with the use of USVs requires precise maneuvering. Bathymetric measurements should be realized in a way that makes it possible to determine the waterbody’s depth as precisely as possible, and this requires high-precision in navigating along planned sounding profiles. This paper presents research that aimed to determine the accuracy of unmanned surface vehicle steering in autonomous mode (with a Proportional-Integral-Derivative (PID) controller) along planned hydrographic profiles. During the measurements, a high-precision Global Navigation Satellite System (GNSS) Real Time Kinematic (RTK) positioning system based on a GNSS reference station network (positioning accuracy: 1–2 cm, p = 0.95) and a magnetic compass with the stability of course maintenance of 1°–3° Root Mean Square (RMS) were used. For the purpose of evaluating the accuracy of the vessel’s path following along sounding profiles, the cross track error (XTE) measure, i.e., the distance between an USV’s position and the hydrographic profile, calculated transversely to the course, was proposed. The tests were compared with earlier measurements taken by other unmanned surface vehicles, which followed the exact same profiles with the use of much simpler and low-cost multi-GNSS receiver (positioning accuracy: 2–2.5 m or better, p = 0.50), supported with a Fluxgate magnetic compass with a high course measurement accuracy of 0.3° (p = 0.50 at 30 m/s). The research has shown that despite the considerable difference in the positioning accuracy of both devices and incomparably different costs of both solutions, the authors proved that the use of the GNSS RTK positioning system, as opposed to a multi-GNSS system supported with a Fluxgate magnetic compass, influences the precision of USV following sounding profiles to an insignificant extent.

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mentioning

confidence: 99%

Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Marchel

Specht

2020

Energies

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“…In [2], a robust H ∞ control approach, based on a two-degrees-of-freedom controller, was developed for the control of AUV. Recently, a nonlinear control scheme based on the energy-shaping (ES) principle and state error port-controlled Hamiltonian (PCH) systems has been proposed in [8]. The design of robust adaptive steering controllers was proposed in [15] to deal with the control of USVs in the presence of uncertainties, unknown control direction, and input saturation.…”

Section: Introductionmentioning

confidence: 99%

Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach

Chnib

Sename

Ferrante

et al. 2022

Lecture Notes in Mechanical Engineering

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This paper presents a decoupled control of a twin hull-based Unmanned Surface Vehicle EDSON-J, using the H ∞ approach for Linear Parameter Varying (LPV) polytopic systems. This method was adapted in order to guarantee robust stability and performance regarding the important non-linearities and the uncertainties on the hydrodynamics parameters. After the presentation of the nonlinear model and the decoupled model of the USV considered for the study, an LPV model was built, regarding the mass of the vehicle as unique varying parameter. Then the methodology of the control law applied is exposed and simulation results are presented. A comparison with the LTI/H ∞ approach will show the interest of the method in terms of performance.

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“…In [8], scholars propose a backstepping-based adaptive speed controller to maintain a reference speed; in [9], an adaptive model predictive controller is proposed to regulate the speed of an ASV under the unknown model parameters of dynamics. Some research works have investigated both the speed and heading control of the ASV to regulate speed and heading to make them reach the corresponding reference values [4], [5], [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic Environments

Negenborn

Reppa

2022

IEEE Trans. Intell. Transport. Syst.

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Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Cited by 13 publications

References 18 publications

Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach

Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic Environments

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