Nonlinear Guidance Law Design of Unmanned Surface Vessels

• Main Authors: Guan-wun Lin, 林冠彣
• Other Authors: Yung-Yue Chen
• Format: Others
• Language: en_US
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/71938287186857660902

碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 101 === Guidance law designs of autonomous unmanned surface vessel (AUSV) design for ocean environment survey is as important as missions of autonomous vehicles, and unmanned aerial vehicles (UAV). As the reason depicted, the unmanned surface vessel can be sailed under harsh climates to execute missions of ocean data collection or resource exploration where the place that humans can’t reach easily and it can be furthermore apply to purposes of coastal security and rescue of human life. The guidance and control design of AUSV is entirely different to autonomous road driving vehicle and UAV due to the modeling uncertainty and worst circumstance disturbance such as wind gust, ocean current and irregular waves, etc. Currently, most of existing literatures introduced linear control methods to design guidance laws for unmanned surface vessel hence it is not useful for practical implementation. In this research, we will design unmanned surface vessel guidance law from the concept of nonlinear control, not only the tracking error can be proven to converge to zero asymptotically in the absence of modeling uncertainties and environment disturbances but also eliminate the effects of the worst circumstance disturbances with an added robust compensator. As the simulation result, all the tracking errors are exponentially converge to near zero and the unmanned surface vessel have tracking the waypoints and force the disturbance perfectly