Nonlinear Parameter-Varying Unmanned Vehicle Model Based on Surge Velocity
The hydrodynamic characteristics of USV are highly nonlinear and time-varying.In order to facilitate the control of the yaw,a nonlinear parameter-varying(NPV)model based on the surge velocity is proposed.Firstly,a nonlinear mechanism model with three degrees of freedom is established by introducing Ross damping model from the hydrodynamic mechanism.Secondly,on the basis of the mechanism model,the nonlinear term is implied in the linear structure to make the model form a linear structure.Then,the sway damping term with small value is ignored,and the surge velocity is taken as the variable parameter to establish the NPV model based on the surge velocity.The NPV model has a simple structure with nonlinear and variable parameter terms,which is an extended form of the Norrbin nonlinear model and linear parameter-varying(LPV)model.Finally,simulations and experiments show that the NPV model can well describe the nonlinear and time-varying characteristics of the yaw motion of the USV.
Unmanned surface vehiclehydrodynamic modelingnonlinear time-varying characteristicsnonlinear parameter-varying model
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