Based on the model-free adaptive control (MFAC) theory, the heading control problem of an unmanned surface vehicle (USV) with uncertainties is researched. First, the compact form dynamic-linearization-based MFAC (CFDL-MFAC) method and its inherent failure problem with USV heading control are analyzed. Second, to solve the problem that the distinctive dynamic characteristics of USV heading control subsystem make the CFDL-MFAC unsuitable, the redefined output CFDL-MFAC (RO-CFDL- MFAC) method is proposed by introducing redefined output gain. Then, theoretical analysis shows that the RO-CFDL-MFAC method can be applied to the heading control subsystem, that is, it makes the heading control satisfy the quasi-linear assumption of MFAC. Next, the minimum range of redefined output gain and the main influences are analyzed, and the stability of RO-CFDL-MFAC method is theoretically proved. Finally, the simulation studies and field experiments demonstrate the validity and engineering practicability of the RO-CFDL-MFAC method.

The control system designing of Unmanned Wave Glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. Meanwhile, to complete marine environment monitoring in long time scale and large spatial scale autonomously, UWG asks high requirements of intelligence and reliability. This paper focuses on the “Ocean Rambler” UWG. First, the intelligent control system architecture is designed based on the cerebrum basic function combination zone theory and hierarchic control method. The hardware and software designing of the embedded motion control system are mainly discussed. A motion control system based on rational behavior model of four layers is proposed. Then, combining with the line-of sight method(LOS), a self-adapting PID guidance law is proposed to compensate the steady state error in path following of UWG caused by marine environment disturbance especially current. Based on S-surface control method, an improved S-surface heading controller is proposed to solve the heading control problem of the weak maneuvering carrier under large disturbance. Finally, the simulation experiments were carried out and the UWG completed autonomous path following and marine environment monitoring in sea trials. The simulation experiments and sea trial results prove that the proposed intelligent control system, guidance law, controller have favorable control performance, and the feasibility and reliability of the designed intelligent control system of UWG are verified.

This paper presents an adaptive null-space-based behavioral method to deal with the problems of saturation planning and lack of adaptability when the traditional null-space-based behavioral (NSB) method is applied to the formation control of multiple unmanned surface vehicles (MUSVs). First, the NSB method is analyzed, and the matrix theory is introduced to propose a behavior priority theory determination method based on a vector graph. Second, considering the maneuverability of the unmanned surface vehicle (USV), variable coefficients with physical significances are introduced to redefine the behavioral motion model, making the speed limit solved in each working condition within the maneuvering range of the USV, and effectively improving the formation ability of MUSVs. Third, a logical priority collision avoidance strategy between the MUSVs is proposed, aiming at the problem that when the USVs judge each other as obstacles, both of them adopt the obstacle avoidance behavior resulting in two vehicles’ courses deviating from the direction of the target point. Finally, a simulation platform for the formation control of MUSVs was established by taking the Dolphin-I prototype USV as the experimental object, and the feasibility of proposed method was verified by a simulation test.