MARINE SURFACE VESSEL TRAJECTORY TRACKING CONTROL
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United States of America
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Issued Date -
Apr 3, 2025
app pub date -
Sep 30, 2024
filing date -
Sep 30, 2024
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Abstract
Systems, methods, and computer program products for controlling a marine surface vessel. Nominal position and nominal heading signals are received from a trajectory planner, and nominal force and nominal moment signals generated based thereon. A velocity tracking error signal is generated based on the sensed velocity signal, and a yaw rate tracking error signal is generated based on the sensed yaw rate signal. A force tracking error control signal is generated based on the velocity tracking error signal, and a moment tracking error control signal is generated based on the yaw rate tracking error signal. A force command signal is generated by summing the nominal force and force tracking error control signals, and a moment command signal is generated by summing the nominal moment and moment tracking error control signals. The force and moment command signals are used to control one or more actuators of the marine surface vessel.
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