LQR-based Waypoint Tracking Control of Catamaran USV with Double Propulsion System

WANG Dong; ZHANG Jie; SHAO Feng; JIN Jiucai; MAO Xingpeng

doi:10.13976/j.cnki.xk.2017.0587

Volume 46 Issue 5

Oct. 2017

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INFORMATION AND CONTROL > 2017 > 46(5): 587-592. > DOI: 10.13976/j.cnki.xk.2017.0587 CSTR: 32166.14.xk.2017.0587

WANG Dong, ZHANG Jie, SHAO Feng, JIN Jiucai, MAO Xingpeng. LQR-based Waypoint Tracking Control of Catamaran USV with Double Propulsion System[J]. INFORMATION AND CONTROL, 2017, 46(5): 587-592. DOI: 10.13976/j.cnki.xk.2017.0587

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LQR-based Waypoint Tracking Control of Catamaran USV with Double Propulsion System

WANG Dong^{1, 2, ,},
ZHANG Jie^{1, 2},
SHAO Feng³,
JIN Jiucai²,
MAO Xingpeng¹

1.
School of Electronics and Information Engineering, Harbin Institute of Technology, Harbin 150006, China
2.
First Institute of Oceanography, State Oceanic Administration, Qingdao 266061, China
3.
College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China

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Received Date: November 06, 2016
Revised Date: March 08, 2017
Accepted Date: March 02, 2017
Available Online: December 01, 2022
Published Date: October 19, 2017

Graphical Abstract

Abstract

Abstract

To solve the automatic waypoint tracking problem of a double-propulsion catamaran USV developed independently, a waypoint tracking controller is designed based on linear quadratic regulator theory and the line-of-sight algorithm with a three-degrees-of-freedom dynamic model, which is modified based on theoretical equations and the data of a lake experiment. Then, simulation analysis of the designed waypoint tracking controller is performed, and results are compared with the ones obtained by the PID method. In addition, several single-and multi-waypoint tracking tests in a lake experiment are performed based on the designed waypoint tracking controller. Results show good tracking performance, which indicates that the designed waypoint tracking controller can adapt to double-propulsion catamaran USVs.
- unmanned surface vessel (USV),
- waypoint tracking,
- linear quadratic regulator (LQR)

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References (22)

References

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