DocumentCode :
2861622
Title :
An experimental comparison of two USV trajectory tracking control laws
Author :
Sonnenburg, C. ; Woolsey, C.A.
Author_Institution :
Aerosp. & Ocean Eng., Virginia Tech, Blacksburg, VA, USA
fYear :
2012
fDate :
14-19 Oct. 2012
Firstpage :
1
Lastpage :
10
Abstract :
This paper describes development and testing of two trajectory tracking control algorithms for an unmanned surface vehicle (USV): a cascade of proportional derivative controllers and a nonlinear controller obtained through backstepping. The control laws are designed to force the vehicle trajectory to converge to a reference trajectory generated using an experimentally identified dynamic model of the USV. Experimental results indicate that the backstepping controller is much more effective at tracking trajectories that involve large variations in speed and course angle. The backstepping control law is extended to accommodate a constant ambient flow. Simulations of the reformulated backstepping controller in a flow field further illustrate its effectiveness.
Keywords :
PD control; boats; mobile robots; nonlinear control systems; remotely operated vehicles; telerobotics; tracking; trajectory control; USV trajectory tracking control laws; backstepping controller; constant ambient flow; course angle variations; nonlinear controller; proportional-derivative controllers; reference trajectory generation; speed variations; unmanned surface vehicle; unmanned surface vehicles trajectory; Argon; Backstepping; Propellers; Testing; Trajectory; Vehicle dynamics; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Oceans, 2012
Conference_Location :
Hampton Roads, VA
Print_ISBN :
978-1-4673-0829-8
Type :
conf
DOI :
10.1109/OCEANS.2012.6404999
Filename :
6404999
Link To Document :
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