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Modeling and Experimental Testing of an Unmanned Surface Vehicle with Rudderless Double Thrusters

1
The State Key Lab of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China
2
The Department of Electronic and Electrical Engineering, University of Sheffield, Sheffield S10 2TN, UK
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2019, 19(9), 2051; https://doi.org/10.3390/s19092051
Received: 13 March 2019 / Revised: 17 April 2019 / Accepted: 29 April 2019 / Published: 2 May 2019
(This article belongs to the Section Physical Sensors)
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Abstract

Motion control of unmanned surface vehicles (USVs) is a crucial issue in sailing performance and navigation costs. The actuators of USVs currently available are mostly a combination of thrusters and rudders. The modeling for USVs with rudderless double thrusters is rarely studied. In this paper, the three degrees of freedom (DOFs) dynamic model and propeller thrust model of this kind of USV were derived and combined. The unknown parameters of the propeller thrust model were reduced from six to two. In the three-DOF model, the propulsion of the USV was completely provided by the resultant force generated by double thrusters and the rotational moment was related to the differential thrust. It combined the propeller thrust model to represent the thrust in more detail. We performed a series of tests for a 1.5 m long, 50 kg USV, in order to obtain the model parameters through system identification. Then, the accuracy of the modeling and identification results was verified by experimental testing. Finally, based on the established model and the proportional derivative+line of sight (PD+LOS) control algorithm, the path-following control of the USV was achieved through simulations and experiments. All these demonstrated the validity and practical value of the established model. View Full-Text
Keywords: unmanned surface vehicles; rudderless double thrusters; propeller thrust model; three-DOF dynamic model; system identification unmanned surface vehicles; rudderless double thrusters; propeller thrust model; three-DOF dynamic model; system identification
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Li, C.; Jiang, J.; Duan, F.; Liu, W.; Wang, X.; Bu, L.; Sun, Z.; Yang, G. Modeling and Experimental Testing of an Unmanned Surface Vehicle with Rudderless Double Thrusters. Sensors 2019, 19, 2051.

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