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This paper describes a control methodology of SVM inverse model for unmanned surface vehicle (USV) system heading control. The method is composed of SVM inverse model and PID feedback compensation that are illustrated in detail. In the MATLAB platform, unmanned surface vehicle module and SVM control module were established. The whole system simulation was conducted. The experiments results show that...
In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to...
As a result of removing nonlinearity and uncertainty in the transform from fin angle to lift force, fin stabilizer with lift feedback can get better effect compare with that of angle feedback. But the effectiveness of lift feedback fin stabilizer can severely be deteriorated due to nonlinear and uncertainty effects arising from the parameter perturbations and external disturbances in the roll motion...
Based on diffeomorphism equivalent transformation and backstepping technology, a feedback control law is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints. With the aids of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. All signals in the closed-loop system are proved uniformly ultimately...
In this paper, we consider the development of a control strategy for path following of underactuated marine surface vessels in the presence of ocean currents. The proposed control strategy is based on a modified Line-of-Sight (LOS) guidance law with integral action and a pair of adaptive feedback controllers. Traditional LOS guidance has several nice properties and is widely used in practice for path...
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