By Topic

A model estimation and multi-variable control of an unmanned surface vehicle with two fixed thrusters

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
Jeong-Hong Park ; Maritime and Ocean Engineering Research Institute, KORDI, Daejeon, Republic of Korea ; Hyung-Won Shim ; Bong-Huan Jun ; Sea-Moon Kim
more authors

This paper presents a dynamic model estimation using system identification (SI) technique and a multivariable controller design for an unmanned surface vehicle (USV) with two fixed thrusters. The catamaran shaped USV has been developed for marine research and surveying exploration in costal area. To validate the automatic control performance of USV, which is designed by classical PID controller, we carried out experiments to keep the USV's position at a fixed point and to track predefined positions. As a result, we have found that it needs time-consuming efforts to tuning the weight between heading and speed controller since the yawing and surge motions are tightly coupled to the two thrusters. In order to solve the problem, it is necessary to introduce the multivariable controller design method. And a numerical dynamic model is required for the model based design. This paper addresses the estimation of a dynamic model of the USV based on the experimental results and the design of Linear-Quadratic (LQ) controller based on a multivariable control method. To verify the efficiency of the designed controller using the estimated dynamic model, numerical simulations were carried out.

Published in:

OCEANS 2010 IEEE - Sydney

Date of Conference:

24-27 May 2010