Identification modeling and Steering Controller Design for Unmanned Surface Vehicles

With the continuous advancement of science and technology, many unmanned surface vehicles (USVs) are being developed for many different applications: military, environmental, mapping… So the steering (heading) control is for unmanned surface vehicles important research designed for motion control. It is not only about handling and ship stabilization, but also the basics of trajectory tracking and obstacle avoidance. During the USV research, mathematical models of steering control were critical to explaining vehicle behavior and stability. Therefore, this paper introduces two contents related to USV steering control, namely model identification and steering control design. For this purpose, the Nomoto model is chosen as the recognition model. These defined offline Nomoto models can serve a variety of purposes: simulation purposes or offline control algorithms… First, experiments are performed to collect experimental data (zigzag tests…), then prediction error identification methods are used to identify Nomoto model parameters, such as recursive least squares (RLS). To verify the recognition accuracy and model results, a sliding mode controller (SMC) was designed based on the established model. Finally, the simulation and experimental results show that the sliding mode controller and integrated line-of-sight guidance (ILOS) have good control effects, proving their feasibility and stability. All of this shows the correctness and practical value of the established model, and on this basis, advanced control algorithms, trajectory tracking, obstacle avoidance… are developed for USV.