Identifying Kinetic Model Parameters and Implementing 3-DOF Control for a Dual-Thruster USV: A Case Study Using the VRX Simulation Environment

Jungeun Yoon, Rockwon Kim

2024

Abstract

This study addresses the challenge of creating accurate kinetic model-based simulations for Unmanned Surface Vehicles (USVs) that replicate the VRX simulation environment. Without precise parameter estimation, discrepancies arise between kinetic model-based position predictions and the USV’s position in the VRX simulation. We propose a comprehensive method for parameter estimation to bridge this gap, coupled with a Dynamical PD+LOS controller to further minimize operational differences. In the control using the kinetic model with the best fit thrust parameters and drag coefficients, the turning radius may vary depending on these parameters. To handle this, it not only calculates the thrust difference based on the heading error but also dynamically adjusts the base thrust according to the speed and distance to the target. This approach prevents over-correction and ensures better alignment between the kinetic model prediction path and VRX movement. The proposed methodology was validated through circle and zigzag path tests. Results demonstrated high fidelity, with position errors of 2% and time errors of 0.37% between the VRX and kinetic model.

Paper Citation

in Harvard Style

Yoon J. and Kim R. (2024). Identifying Kinetic Model Parameters and Implementing 3-DOF Control for a Dual-Thruster USV: A Case Study Using the VRX Simulation Environment. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 368-375. DOI: 10.5220/0013010600003822

in Bibtex Style

@conference{icinco24,
author={Jungeun Yoon and Rockwon Kim},
title={Identifying Kinetic Model Parameters and Implementing 3-DOF Control for a Dual-Thruster USV: A Case Study Using the VRX Simulation Environment},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={368-375},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013010600003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Identifying Kinetic Model Parameters and Implementing 3-DOF Control for a Dual-Thruster USV: A Case Study Using the VRX Simulation Environment
SN - 978-989-758-717-7
AU - Yoon J.
AU - Kim R.
PY - 2024
SP - 368
EP - 375
DO - 10.5220/0013010600003822
PB - SciTePress