Title :
A nonlinear path following controller for an underactuated unmanned surface vessel
Author :
Daly, John M. ; Tribou, Michael J. ; Waslander, Steven L.
Author_Institution :
Quanser Consulting Inc., Markham, ON, Canada
Abstract :
This work presents a novel path following controller for underactuated unmanned surface vessels (USVs) that is both provably stable and intuitive to tune. The approach consists of a navigation component that computes a desired heading angle to ensure the USV will arrive at the path, and a nonlinear controller to guarantee exponential tracking of surge velocity and heading. Additionally, ultimate boundedness of the unactuated sway velocity is proven. Simulation results are presented to show numerically that the controller works as expected in the ideal case. Outdoor experimental results are presented, using a GPS and compass as sensors, showing the practical feasibility of the approach in the presence of sensor noise, disturbances, and unmodeled dynamics.
Keywords :
Global Positioning System; nonlinear control systems; path planning; remotely operated vehicles; sensors; tracking; vehicle dynamics; velocity control; GPS; USV; compass; disturbance; exponential tracking; heading angle; navigation component; nonlinear path following controller; sensor noise; unactuated sway velocity; underactuated unmanned surface vessel; unmodeled dynamics; Equations; Mathematical model; Stability analysis; Surges; Trajectory; Vehicle dynamics; Vehicles; Mobile robotics; navigation; path following control; surface vessel;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385523