The basic motion control strategy for the water-jet-propelled USV

Research on the design of the basic motion control system of the water-jet propelled Unmanned Surface Vehicle (USV) is undertaken. The architecture of the USV´S embedded motion control system is presented from the view point of the hardware and software. The characteristic of the equipment configuration of the USV´S motion control actuators was analysed, which is that the USV system is an under-actuated, time-varying and multiple-input multiple-output nonlinear coupled system. According to the characteristic of the motion system and the coordination function of the human cerebella, the basic motion control strategy for the USV was proposed based on the coordination control of astern deflector, nozzle and engine of the USV. Then the full motion controlling to the USV in various sailing states were achieved, therefore, the manoeuvrability and the agility of the USV was improved. Finally, the feasibility and engineering practicability of the basic motion control strategy was verified by the motion control simulation trial of the USV in different sailing states.