Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances
Yang Qu Lilong Cai Yang Qu Lilong Cai
In this paper, we present the positioning control problem for underactuated unmanned surface vehicles (USVs) in the presence of unknown external disturbances, such as the wind, waves, and currents. The three control objectives of positioning control for underactuated USVs are, firstly, to retain a predefined constant distance to a look-ahead point, secondly, to regulate the vehicle heading to poin...