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Journal of Shanghai University >

2020 , Vol. 26 >Issue 6: 896 - 908

DOI: https://doi.org/10.12066/j.issn.1007-2861.2248

Intelligent Ocean Surface Robot

Hierarchical model identification method for unmanned surface vehicle

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  • 1. Research Institute of USV Engineering, Shanghai University, Shanghai 200444, China
    2. North Sea Engineering Survey and Research Institute, State Oceanic Administration, Qingdao 266061, Shandong, China
    3. School of Computer Engineering and Science, Shanghai University, Shanghai 200444, China

Received date: 2019-03-20

  Online published: 2020-12-29

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Abstract

With the developments in science, technology, and military, unmanned surface vehicles (USVs) with unique roles have been rapidly developed in recent years. Considering the large interference of the sea environment, large time delay, and limited computing capability of the onboard computer, it is challenging to obtain an accurate control mode for the USV. As an industry robot, rapid identification of the control model is important for the research, development, and engineering. To address this issue, this paper proposes a hierarchical mode identification method for the USV, with a rudder steering model and heading control model at different speeds. The validity of the model is verified by a simulation and experiment. This method is simple and fast and can be quickly applied to the control system of the USV.

Key words： unmanned surface vehicle (USV); model identification; system identification; control model; hierarchical identification

Cite this article

YUAN Xiaoyu, HUANG Chengyi, PENG Yan, QU Dong, LIU Dongke . Hierarchical model identification method for unmanned surface vehicle[J]. Journal of Shanghai University, 2020 , 26(6) : 896 -908 . DOI: 10.12066/j.issn.1007-2861.2248

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