A study on tracking controller design for unmanned surface vehicles using magnetic coupling thruster

Abstract

Controlling the unmanned surface vehicles to follow the object or define trajectory have many important applications in the field as military, survey quality environment so this problem has been much research on the world. This report represents the method to control the unmanned surface vehicles which use thruster with coupling follow square or zig-zag trajectories using the Line of Sight (LOS) algorithm combined with the Backstepping Controller. The system consists of three main blocks, Guidance - Control - Ship. Guidance will help to select waypoints to create the trajectory the use the LOS algorithm with lookahead distance to adjust and calculate the desired heading angle ψ. Control with the Backstepping algorithm will calculate the force and moment to apply to the dynamic model of the Ship. The position and heading angle of the vehicles will be feedback to the two Guidance-Control blocks for calculation and updating. The effectiveness of the algorithm will be presented in simulation results with MATLAB / SIMULINK