Nonlinear guidance law design of unmanned surface vessels

Yung Yue Chen, Guan Wun Lin, Wei Min Hu

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
發行者IEEE Computer Society
頁面50-55
頁數6
ISBN(列印)9781479928378
DOIs
出版狀態Published - 2014 一月 1
事件11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 - Taichung, Taiwan
持續時間: 2014 六月 182014 六月 20

出版系列

名字IEEE International Conference on Control and Automation, ICCA
ISSN(列印)1948-3449
ISSN(電子)1948-3457

Other

Other11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
國家Taiwan
城市Taichung
期間14-06-1814-06-20

指紋

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

引用此文

Chen, Y. Y., Lin, G. W., & Hu, W. M. (2014). Nonlinear guidance law design of unmanned surface vessels. 於 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 (頁 50-55). [6870894] (IEEE International Conference on Control and Automation, ICCA). IEEE Computer Society. https://doi.org/10.1109/ICCA.2014.6870894
Chen, Yung Yue ; 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. 頁 50-55 (IEEE International Conference on Control and Automation, ICCA).
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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.",
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Chen, YY, Lin, GW & Hu, WM 2014, Nonlinear guidance law design of unmanned surface vessels. 於 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014., 6870894, IEEE International Conference on Control and Automation, ICCA, IEEE Computer Society, 頁 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 Yue; 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).

研究成果: Conference contribution

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Chen YY, Lin GW, Hu WM. Nonlinear guidance law design of unmanned surface vessels. 於 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