Control of an Unmanned Surface Vehicle with Rudderless Double Thrusters | ||||
| The International Undergraduate Research Conference | ||||
| Volume 6, Issue 6, September 2022, Page 1-4 PDF (395.75 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/iugrc.2022.303038 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| Islam Mohsen; Aly Ahmed; Amr saad | ||||
| Engineering College MTC ,Egypt. | ||||
| Abstract | ||||
| USVs is very important in sailing performance and navigation costs. Usually USVs have combination of thrusters and rudder. In this paper, USV with rudderless double thrusters is used. Three degrees of freedom (DOFs) dynamic model and propeller thrust model of USV are derived and combined. The propulsion of the USV force generated by double thrusters and the rotational moment was related to the differential thrust. The feedback control system is realized using A proportional derivative +line of sight (PD+LOS) control algorithm to achieve, the path-following control of the USV. Simulations for different scenarios are developed using MATLAB and LABVIEW toolboxes. Simulation results are reconnoitered to verify the validity of the proposed model and the efficiency of the designed controller algorithm. | ||||
| Keywords | ||||
| USV; DC motor, LOS, LABVIEW, MATLAB, PD controller | ||||
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