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Real-Time Navigation Date-Driven Heading Control Algorithm of USV Based on Backstep** Method with Unknown Model Parameters

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Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) (ICAUS 2023)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1175))

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Abstract

The control problem for the USV model with uncertain parameters is addressed by employing the extended Kalman filter identification method. This approach facilitates the estimation of the corresponding model parameters, which are continuously corrected in real time through a recursive mode. Based on the modified model, a backstep** control strategy is designed to determine the optimal control rudder angle. With the inclusion of the correction component, the improved backstep heading controller exhibits better adaptability to model perturbations and interferences. Simulation results demonstrate that, in comparison to traditional PID control, the improved backstep heading controller achieves higher heading accuracy, shorter setting time, smaller overshoot amplitude, irrespective of environmental interferences.

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Author information

Authors and Affiliations

  1. Systems Engineering Research Institute of CSSC, Bei**g, 100036, China

    Wei Wang, Puning Xu & Lei Wang

  2. School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan, 430063, China

    Wenjie Zhou & Zaopeng Dong

Authors
  1. Wei Wang
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  2. Puning Xu
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  3. Lei Wang
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  4. Wenjie Zhou
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  5. Zaopeng Dong
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Corresponding author

Correspondence to Wei Wang .

Editor information

Editors and Affiliations

  1. Nan**g University of Science and Technology, Nan**g, China

    Yi Qu

  2. Bei**g HIWING Scientific and Technological Information Institute, Bei**g, China

    Mancang Gu

  3. College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China

    Yifeng Niu

  4. Unmanned System Research Institute, Northwestern Polytechnical University, **%20Method%20with%20Unknown%20Model%20Parameters&author=Wei%20Wang%2C%20Puning%20Xu%2C%20Lei%20Wang%20et%20al&contentID=10.1007%2F978-981-97-1095-9_38&copyright=Bei**g%20HIWING%20Scientific%20and%20Technological%20Information%20Institute&publication=eBook&publicationDate=2024&startPage=414&endPage=424&imprint=Bei**g%20HIWING%20Scientific%20and%20Technological%20Information%20Institute">Reprints and permissions

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© 2024 Bei**g HIWING Scientific and Technological Information Institute

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Wang, W., Xu, P., Wang, L., Zhou, W., Dong, Z. (2024). Real-Time Navigation Date-Driven Heading Control Algorithm of USV Based on Backstep** Method with Unknown Model Parameters. In: Qu, Y., Gu, M., Niu, Y., Fu, W. (eds) Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023). ICAUS 2023. Lecture Notes in Electrical Engineering, vol 1175. Springer, Singapore. https://doi.org/10.1007/978-981-97-1095-9_38

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