Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle
| Autor: | Chengxing Lv, Haisheng Yu, Jieru Chi, Hua Zhili, Li Lei |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Unmanned surface vehicle Article Subject Computer science lcsh:Mathematics General Mathematics 020208 electrical & electronic engineering General Engineering 02 engineering and technology Nonlinear control lcsh:QA1-939 020901 industrial engineering & automation lcsh:TA1-2040 Control theory 0202 electrical engineering electronic engineering information engineering lcsh:Engineering (General). Civil engineering (General) Hamiltonian (control theory) |
| Zdroj: | Mathematical Problems in Engineering, Vol 2018 (2018) |
| ISSN: | 1563-5147 1024-123X |
| DOI: | 10.1155/2018/7371829 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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