An approach to differentially flat modeling and control of surface water vehicle with vectored thrust

摘要

This article attempts to model a surface water vehicle propelled by vectored thrust utilizing the differentially flat nature of the dynamic system. Considering the vehicle moving in still water, it is assumed that the vehicle is stabilized against sideway drifts, possessing nonholonomic motion constraints. Under the assumption, the paper proposes a simple approach to model and control of the vehicle using the differentially flat structure. Based on thrust force measurement, it presents an estimation procedure for system parameters, which is then used in the controller. Simulation results are reported to show the effectiveness of the proposed method for modeling, estimation and control.¹