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

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.