Time-varying encounter angle trajectory tracking control of unmanned surface vehicle based on wave modeling

Dongdong Mu; Zhongqi Lang; Yunsheng Fan; Yongsheng Zhao

doi:10.1016/j.isatra.2023.07.025

Time-varying encounter angle trajectory tracking control of unmanned surface vehicle based on wave modeling

ISA Trans. 2023 Nov:142:409-419. doi: 10.1016/j.isatra.2023.07.025. Epub 2023 Jul 24.

Authors

Dongdong Mu¹, Zhongqi Lang², Yunsheng Fan³, Yongsheng Zhao⁴

Affiliations

¹ College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China. Electronic address: ddmu@dlmu.edu.cn.
² College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China. Electronic address: langzhongqi@dlmu.edu.cn.
³ College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China. Electronic address: yunsheng@dlmu.edu.cn.
⁴ College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China. Electronic address: yszhao@dlmu.edu.cn.

PMID: 37541859
DOI: 10.1016/j.isatra.2023.07.025

Abstract

In this note, a wave simulation method based on the wave spectrum is proposed, and the wave simulation is transformed into external interference to verify the necessity of using variable encounter angle real wave interference. Firstly, A wave simulation method based on wave spectrum and equidistant method is proposed and demonstrated. Secondly, wave modeling is transformed into interference force related to the encounter angle by fully considering the real marine environment. Furthermore, a trajectory tracking controller with variable encounter angles and the actual sea state is designed using the disturbance modeling method. Finally, the necessity and authenticity of considering varying encounter angles and real sea conditions in the motion control of unmanned surface vehicles (USVs) are proved by simulation.

Keywords: Real waves; Trajectory tracking control; Wave spectrum.

Publication types

Letter