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Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle
Journal of Applied Mathematics
Considering the case of ASV (autonomous surface vehicle) navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Control system design is based on GPC (general predictive control) theory and working principle of zero-speed fin stabilizer. Coupling horizontal motion model of ASV is decoupled, and an equivalent transfer function of roll motion is obtaineddoi:10.1155/2014/347589 fatcat:jkozbi2zavaxbl5iputyceqrmi