Journal of System Simulation
Abstract
Abstract: Aiming at the strong nonlinearities of hydrodynamics, and the influences of wind, wave and current on USVs (Unmanned Surface Vehicles), an H∞ robust yaw keeping controller based on LPV (Linear Parameter Varying) model is proposed. The LPV model uses the Froude number as the varying parameter, reflects the USV’s nonlinear hydrodynamics along with the Froude number, and simplifies the parameters identification and controller design. By using the Froude number as the scheduled parameter, an H∞ robust yaw keeping controller is designed on the basis of bounded real lemmas to attenuate the disturbances. Simulations on a 3-DOF underactuated USV simulation platform verify the effectiveness and robustness of the proposed controller.
Recommended Citation
Xiong, Junfeng; He, Yuqing; Han, Jianda; and Yuan, Mingzhe
(2020)
"Robust Heading Control of an Unmanned Surface Vehicle Based on LPV Model,"
Journal of System Simulation: Vol. 32:
Iss.
8, Article 20.
DOI: 10.16182/j.issn1004731x.joss.18-0043
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol32/iss8/20
First Page
1598
Revised Date
2018-06-28
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.18-0043
Last Page
1605
CLC
TP273
Recommended Citation
Xiong Junfeng, He Yuqing, Han Jianda, Yuan Mingzhe. Robust Heading Control of an Unmanned Surface Vehicle Based on LPV Model[J]. Journal of System Simulation, 2020, 32(8): 1598-1605.
DOI
10.16182/j.issn1004731x.joss.18-0043
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