TY - GEN
T1 - Nonlinear guidance law design of unmanned surface vessels
AU - Chen, Yung Yue
AU - Lin, Guan Wun
AU - Hu, Wei Min
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84906542020&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84906542020&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2014.6870894
DO - 10.1109/ICCA.2014.6870894
M3 - Conference contribution
AN - SCOPUS:84906542020
SN - 9781479928378
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 50
EP - 55
BT - 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
PB - IEEE Computer Society
T2 - 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
Y2 - 18 June 2014 through 20 June 2014
ER -