A Combined Speed and Finite-Time Yaw Controller for an Underactuated Unmanned Surface Vessel Using Way-Point Navigation

This paper focuses on the speed and yaw control problem for an underactuated unmanned surface vessel (USV) with only two propellers navigating through multiple way-points using the line-of-sight (LOS) algorithm. The speed and yaw dynamics are transformed into a cascaded nonlinear system that can be reduced to the stabilization control problem of the surge and yaw subsystems. The proposed surge speed controller uses a distance and heading error feedback control to vary its speed accordingly while the heading subsystem is stabilized via a finite-time controller. Comparisons of the traditional yaw rate stabilization control techniques are made with the proposed finite-time controller and shown to be inferior to the finite-time controller in terms of convergence rate and robustness. The stability and effectiveness of the proposed control system is demonstrated and validated by simulation results of a modeled kayak.

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