Stability control for USVs with SINDY-based online dynamic model update
Abstract
Unmanned Surface Vehicles (USVs) play a pivotal role in various applications, including surface rescue, commercial transactions, scientific exploration, water rescue, and military operations. The effective control of high-speed unmanned surface boats stands as a critical aspect within the overall USV system, particularly in challenging environments marked by complex surface obstacles and dynamic conditions, such as time-varying surges, non-directional forces, and unpredictable winds. In this paper, we propose a data-driven control method based on Koopman theory. This involves constructing a high-dimensional linear model by mapping a low-dimensional nonlinear model to a higher-dimensional linear space through data identification. The observable USVs dynamical system is dynamically reconstructed using online error learning. To enhance tracking control accuracy, we utilize a Constructive Lyapunov Function (CLF)-Control Barrier Function (CBF)-Quadratic Programming (QP) approach to regulate the high-dimensional linear dynamical system obtained through identification. This approach facilitates error compensation, thereby achieving more precise tracking control.
Cite
@article{arxiv.2311.17297,
title = {Stability control for USVs with SINDY-based online dynamic model update},
author = {Zong Chen},
journal= {arXiv preprint arXiv:2311.17297},
year = {2024}
}
Comments
There were serious defects in the results of the simulation experiment in the later inspection. Due to the wrong data comparison, the final implementation effect was wrong. We will reevaluate the feasibility and usability of the paper implementation in the future and submit it again