Station-keeping control of an unmanned surface vehicle exposed to current and wind disturbances

Preprint English OPEN
Sarda, Edoardo I.; Qu, Huajin; Bertaska, Ivan R.; von Ellenrieder, Karl D.;
  • Identifiers: doi: 10.1016/j.oceaneng.2016.09.037
  • Subject: Computer Science - Systems and Control | Computer Science - Robotics
    arxiv: Physics::Atmospheric and Oceanic Physics | Physics::Space Physics

Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current. The USV has a twin hull confi... View more
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