Optimal Area Keeping Control for USV based on Minimum Energy Consumption

This paper deal with the area keeping control problem for USV. From the perspective of reducing energy consumption and increasing working time, a novel discontinuous area keeping control strategy based on minimum energy consumption is proposed. The workspace is divided into two parts: the safe uncontrolled area and the controlled area. Considering the underactuated characteristics of the USV, a discontinuous control area keeping strategy is developed from the concept of environmental optimal heading. Simulation results show that the proposed controller can guarantee the USV working in the prescribed area while energy consumption of the propeller can also be reduced.