Results 41 to 50 of about 4,872,971 (182)

Trajectory tracking control of underactuated USV based on modified backstepping approach

International Journal of Naval Architecture and Ocean Engineering, 2015
This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane.
Zaopeng Dong, Lei Wan, Yueming Li, Tao Liu, Guocheng Zhang   +4 more
doaj   +1 more source

Navigation of an Autonomous Underwater Vehicle for Shortest Time Sensor Data Collection

IET Control Theory &Applications, Volume 20, Issue 1, January/December 2026.
This paper addresses the problem of navigation of an autonomous underwater vehicle (AUV) for effective sensor data collection from an underwater sensor network. The AUV is launched from an unmanned surface vehicle (USV) located at some sea surface point, collects sensor data, and then arrives at the same USV at some other sea surface point.
Andrey V. Savkin, Satish C. Verma, Talal S. Almuzaini   +2 more
wiley   +1 more source

A LiDAR SLAM-Assisted Fusion Positioning Method for USVs

Sensors, 2023
Confronted with unmanned surface vessel (USV) operations where GNSS signals are unavailable due to obscuration and other factors, a LiDAR SLAM-assisted fusion positioning method for USVs is proposed to combine GNSS/INS positioning with LiDAR-SLAM.
Wei Shen, Zhisong Yang, Chaoyu Yang, Xin Li   +3 more
doaj   +1 more source

Practical Predefined‐Time Prescribed Performance Control for Cooperative Target Enclosing of Multi‐USV

IET Control Theory &Applications, Volume 20, Issue 1, January/December 2026.
A new predefined‐time stability lemma is introduced through employing an exponentially decaying function. It has more adjustable parameters for the size of residual set, and can enter a smaller residual set. Subsequently, according to this lemma, a practical predefined‐time prescribed performance control for cooperative target enclosing of unmanned ...
Han Xue, Xiangtao Wang
wiley   +1 more source

A Verification Method of Formation Control of USV Cluster Based on Virtual-Real Integration

水下无人系统学报
In the research field of unmanned surface vessel(USV) technology, the verification and optimization of autonomous algorithms are crucial for advancing this technology and have important research significance for improving system reliability ...
Xiao LIANG, Chengbin YANG, Zhihao ZHANG, Dianyong LIU, Wei LI, Changdong YU   +5 more
doaj   +1 more source

Adaptive Sliding Mode Path Tracking Control for an Underactuated Unmanned Surface Vehicle Based on a Disturbance Observer

IET Intelligent Transport Systems, Volume 20, Issue 1, January/December 2026.
This paper proposes a composite control strategy combining a disturbance observer (DOB) and an adaptive sliding‐mode controller (ASMC) to enhance the path‐tracking performance of underactuated unmanned surface vehicles. The DOB actively compensates for environmental disturbances while the ASMC handles model uncertainties, with simulations demonstrating
Li Yang, Bao Changchun
wiley   +1 more source

Disturbance-Observer-Based Sliding Mode Control Design for Nonlinear Unmanned Surface Vessel With Uncertainties

IEEE Access, 2019
Unmanned surface vessel (USV) has been widely applied due to its advantages in the maritime security inspection and resources exploration. Good trajectory tracking performance is a critical issue in the control design of USV.
Zheng Chen, Yougong Zhang, Youming Zhang, Yong Nie, Jianzhong Tang, Shiqiang Zhu   +5 more
doaj   +1 more source

Numerical Simulation of the Motion of a Large Scale Unmanned Surface Vessel in High Sea State Waves

Journal of Marine Science and Engineering, 2021
The motion stability of the Unmanned Surface Vessel (USV) is threatened by the action of waves under a rough sea state. In the present paper, the motion of a large-scale USV is numerically simulated under high sea state of level 5 and 7. The overset grid
Shuo Huang, Weiqi Liu, Wanzhen Luo, Kai Wang   +3 more
doaj   +1 more source

Autonomous Berthing and Unberthing of Unmanned Surface Vessels via Harmonised Bézier Path Planning and Proximal Policy Optimisation

IET Intelligent Transport Systems, Volume 20, Issue 1, January/December 2026.
Berthing and unberthing are among the most demanding ship manoeuvring tasks because they are performed at low speed in restricted waters and are highly susceptible to environmental disturbances. Existing methods generally rely on relatively accurate mathematical models and may exhibit degraded performance when model uncertainty and external ...
Biliang Lu, Ziyan Zhou, Feng Ma, Chen Chen, Jie Sun   +4 more
wiley   +1 more source

Adaptive Navigating Control Based on the Parallel Action-Network ADHDP Method for Unmanned Surface Vessel

Advances in Materials Science and Engineering, 2019
The feedback PID method was mainly used for the navigating control of an unmanned surface vessel (USV). However, when the intelligent control era is coming now, the USV can be navigated more effectively.
Zhijian Huang, Xinze Liu, Jiayi Wen, Guichen Zhang, Yihua Liu   +4 more
doaj   +1 more source