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Wenhao Li, Xianxia Zhang, Yueying Wang and Songbo Xie
Model predictive control (MPC), an extensively developed rolling optimization control method, is widely utilized in the industrial field. While some researchers have incorporated predictive control into underactuated unmanned surface vehicles (USVs), mos...
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Wei Liu, Hui Ye and Xiaofei Yang
For an underactuated unmanned surface vehicle (USV), time-varying external disturbances affect the accuracy of trajectory tracking. To ensure trajectory tracking accuracy, in this paper the reduced-order extended state observer (ESO) and the super-twisti...
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Yuchao Wang, Yinsong Qu, Shiquan Zhao, Ricardo Cajo and Huixuan Fu
In this paper, a solution to the problem of following a curved path for underactuated unmanned surface vehicles (USVs) with unknown sideslip angle and model uncertainties is studied. A novel smooth sliding mode control (SSMC) based on a finite-time exten...
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Yi Ren, Lei Zhang, Wenbin Huang and Xi Chen
This study describes a circular curve path-following controller for an underactuated unmanned surface vessel (USV) experiencing unmodeled dynamics and external disturbances. Initially, a three degrees of freedom kinematic model of the USV is proposed for...
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Xu Han, Xianku Zhang and Hugan Zhang
Trajectory planning aims to provide a time-related control target that contains the concerned states. For an underactuated surface vehicle (USV), planning challenges include limitations on curvature, speed, acceleration, and jerk. These challenges are re...
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Wei Li, Jun Zhang, Fang Wang and Hanyun Zhou
The underactuated unmanned surface vessel (USV) has been identified as a promising solution for future maritime transport. However, the challenges of precise trajectory tracking and obstacle avoidance remain unresolved for USVs. To this end, this paper m...
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Yeye Liu, Xiaogong Lin and Chao Zhang
This paper investigates the affine formation maneuver control for multi-heterogeneous unmanned surface vessels (USV), aiming to enable them to navigate through narrow channels in the near-sea environment. The approach begins with implementing an affine t...
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Ji-Hong Li, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Gun Rae Cho and Han-Sol Jin
In this paper, we present a 3D formation control scheme for a group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct a sort of star-topology acoustic communi...
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Zhiyuan Sun, Hanbing Sun, Ping Li and Jin Zou
To maintain the formation of underactuated surface vessels (USVs), this study designs a formation controller based on a virtual structure strategy. The problem of formation control is transformed into the problems of tracking the USV position and the vir...
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Zhiping He, Guofeng Wang, Yunsheng Fan and Shuanghu Qiao
This paper studies the fast finite-time path following of underactuated unmanned surface vehicles (USV) with sideslip compensation, time-varying disturbances and input saturation. In the guidance module, the fast finite-time predictor-based line-of-sight...
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