Yanwei Huang

Nov 15, 2023 | onlinelibrary.wiley.com | Yanwei Huang |Automation Fuzhou Fuzhou |Feng Lin

For the nonlinear parameter-varying (NPV) model of unmanned surface vehicle with the consideration of the velocities on yaw and surge as well as wave disturbances, a robust control method is proposed based on extended homogeneous polynomial Lyapunov function (EHPLF) to regulate heading for the superior performance on the rapidity, accuracy, and robustness. First, a NPV model of heading error is established to design a general form of a state feedback controller with a robust performance.