Design of the basic motion control system for water-jet-propelled unmanned surface vehicle
喷水推进无人艇的基础运动控制系统设计(英文)

Design of the basic motion control strategy for the under-actuated Unmanned Surface Vehicle (USV) is undertaken. Firstly, the motion control system architecture of the water-jet propelled USV is introduced in detail. According to the characteristic of water-jet propulsion principle, the USV system is an under-actuated, time-varying and nonlinear coupled system. Secondly, simulating the coordination control function of the human cerebella, the human-simulate control strategy is proposed based on the coordination control of astern deflector rotating, nozzle rotating and engine rotation speed. So the full controlling of the surface vehicle in various sailing states is achieved, and its manoeuvrability and agility are improved. Then the software architecture for the control system is designed using this idea. Finally, the USV motion control simulation tests are undertaken in dierent sailing states. And the simulation validates the eectiveness of the human-simulate control strategy.