PD based DIDO control method for unmanned surface vehicle to follow linear path

Abstract

A method for Unmanned Surface Vehicle (USV) to follow linear path is proposed, considering both position error and course error. Based on dynamic model of the USV which is thrust with twin fixed propellers driven by DC electric motors, Cross Track Error and Line of Sight are combined into DIDO controller based on PD. The simulation experiment is conducted and compared with the method using Cross Track Error only. The results show that the proposed method performs better than the method using only Cross Track Error when the heading angle error is large.