Transiting Target Value Based Path Following Control of Unmanned Surface Vessel

摘要

This paper presents a transiting target value-based control method for the path following of unmanned surface vessel (USV). The target heading angle is arranged through a transiting process, and the transited target heading angle is treated as the real desired heading angle for the heading controller. This can alleviate the overshoot problem caused by the target heading angle abrupt change during broken line path following. To eliminate the steady state error, an integral type S plane speed controller is employed. Broken line path following field experiment is carried out to validate the rationality of the designed control scheme.