Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5474334 | Ocean Engineering | 2017 | 9 Pages |
Abstract
This paper proposed a novel control method for dynamic positioning of an uninhabited surface vehicle (USV). A state-dependent Riccati equation (SDRE) technique was introduced to deal with dynamic positioning problem of the USV. A new state-dependent coefficient (SDC) matrix was built to show the relationship between variables and satisfy the control inputs saturation for practical application. In order to solve the SDRE in real time, a semi-analytical formulation was derived by using Legendre-Gauss-Radau pseudospectral method. Simulation results show that the proposed method can be applied in real time and the USV can maintain its position and heading accurately and remains stable.
Related Topics
Physical Sciences and Engineering
Engineering
Ocean Engineering
Authors
Haibin Huang, Sanjay Sharma, Yufei Zhuang, Dianguo Xu,