Speed and heading control of unmanned surface vehicle based on IDA-PBC and L2 gain disturbance attenuation approach

An Interconnection and damping assignment passivity based control(IDA-PBC) with L2 gain disturbance attenuation control law is presented and simulation for speed and heading angle tracking of unmanned surface vehicles. Using interconnection and damping assignment passivity based control, the desired PCH structure is assigned to the closed-loop USV control system by energy shaping theory. Moreover, the L2 gain disturbance attenuation approach is applied to the PCH control of USV system. The simulation results show that the proposed approach can quickly arrive at a given signal and effectively restrain the disturbance. So the proposed approach has a certain practical value.