Nonlinear guidance law design of unmanned surface vessels

Yung-Yu Chen, Guan Wun Lin, Wei Min Hu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Guidance law design of unmanned surface vessel (AUSV) design for ocean environment survey is as important as missions of autonomous vehicles and unmanned aerial vehicles (UAV). As the characteristic depicted, unmanned surface vessel is often used to sail under harsh climates to execute missions. However, there are many uncertainties on the ocean, such as wind gust, ocean current and irregular waves, etc. Therefore, the traditional linear control method to design guidance laws for unmanned surface vessel is not useful for practical implementation. In this research, we propose the Robust feedback Linearization Control method to design unmanned surface vessel guidance law from the concept of nonlinear control, and simulation results show that the AUSV have tracking the waypoints and force the disturbance perfectly.

Original languageEnglish
Title of host publication11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
PublisherIEEE Computer Society
Pages50-55
Number of pages6
ISBN (Print)9781479928378
DOIs
Publication statusPublished - 2014 Jan 1
Event11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 - Taichung, Taiwan
Duration: 2014 Jun 182014 Jun 20

Publication series

NameIEEE International Conference on Control and Automation, ICCA
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Other

Other11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
CountryTaiwan
CityTaichung
Period14-06-1814-06-20

Fingerprint

Ocean currents
Feedback linearization
Unmanned aerial vehicles (UAV)
Uncertainty

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Chen, Y-Y., Lin, G. W., & Hu, W. M. (2014). Nonlinear guidance law design of unmanned surface vessels. In 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 (pp. 50-55). [6870894] (IEEE International Conference on Control and Automation, ICCA). IEEE Computer Society. https://doi.org/10.1109/ICCA.2014.6870894
Chen, Yung-Yu ; Lin, Guan Wun ; Hu, Wei Min. / Nonlinear guidance law design of unmanned surface vessels. 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014. IEEE Computer Society, 2014. pp. 50-55 (IEEE International Conference on Control and Automation, ICCA).
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Chen, Y-Y, Lin, GW & Hu, WM 2014, Nonlinear guidance law design of unmanned surface vessels. in 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014., 6870894, IEEE International Conference on Control and Automation, ICCA, IEEE Computer Society, pp. 50-55, 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014, Taichung, Taiwan, 14-06-18. https://doi.org/10.1109/ICCA.2014.6870894

Nonlinear guidance law design of unmanned surface vessels. / Chen, Yung-Yu; Lin, Guan Wun; Hu, Wei Min.

11th IEEE International Conference on Control and Automation, IEEE ICCA 2014. IEEE Computer Society, 2014. p. 50-55 6870894 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Chen Y-Y, Lin GW, Hu WM. Nonlinear guidance law design of unmanned surface vessels. In 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014. IEEE Computer Society. 2014. p. 50-55. 6870894. (IEEE International Conference on Control and Automation, ICCA). https://doi.org/10.1109/ICCA.2014.6870894