Mohsen, I., Ahmed, A., saad, A. (2022). Control of an Unmanned Surface Vehicle with Rudderless Double Thrusters. test, 6(6), 1-4. doi: 10.21608/iugrc.2022.303038
Islam Mohsen; Aly Ahmed; Amr saad. "Control of an Unmanned Surface Vehicle with Rudderless Double Thrusters". test, 6, 6, 2022, 1-4. doi: 10.21608/iugrc.2022.303038
Mohsen, I., Ahmed, A., saad, A. (2022). 'Control of an Unmanned Surface Vehicle with Rudderless Double Thrusters', test, 6(6), pp. 1-4. doi: 10.21608/iugrc.2022.303038
Mohsen, I., Ahmed, A., saad, A. Control of an Unmanned Surface Vehicle with Rudderless Double Thrusters. test, 2022; 6(6): 1-4. doi: 10.21608/iugrc.2022.303038

Control of an Unmanned Surface Vehicle with Rudderless Double Thrusters

The International Undergraduate Research Conference
Volume 6, Issue 6, September 2022, Pages 1-4    PDF (395.75 K)
Document Type: Original Article
DOI: 10.21608/iugrc.2022.303038
Authors
Islam Mohsen; Aly Ahmed; Amr saad
Engineering College MTC ,Egypt.
Abstract
USVs is very important in sailing performance and navigation costs. Usually USVs have combination of thrusters and rudder. In this paper, USV with rudderless double thrusters is used. Three degrees of freedom (DOFs) dynamic model and
propeller thrust model of USV are derived and combined. The propulsion of the USV force generated by double thrusters
and the rotational moment was related to the differential thrust. The feedback control system is realized using A proportional derivative +line of sight (PD+LOS) control algorithm to achieve, the path-following control of the USV. Simulations for different scenarios are developed using MATLAB and LABVIEW toolboxes. Simulation results are reconnoitered to verify the validity of the proposed model and the efficiency of the designed controller algorithm.
Keywords
USV; DC motor, LOS, LABVIEW, MATLAB, PD controller
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