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Mathematical Problems in Engineering
Volume 2018, Article ID 7371829, 9 pages
Research Article

Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

1College of Automation and Electrical Engineering, Qingdao University, Qingdao 266071, China
2Institute of Oceanographic Instrumentation, Qilu University of Technology, Shandong Academy of Sciences, Shandong Provincial Key Laboratory of Ocean Environmental Monitoring Technology, National Engineering and Technological Research Center of Marine Monitoring Equipment, Qingdao 266001, China

Correspondence should be addressed to Haisheng Yu;

Received 21 August 2017; Revised 7 December 2017; Accepted 19 December 2017; Published 18 January 2018

Academic Editor: George Tsiatas

Copyright © 2018 Chengxing Lv et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a novel nonlinear control scheme based on energy-shaping (ES) principle and state error port-controlled Hamiltonian (PCH) systems for unmanned surface vehicles (USV) system. The PCH model of three degrees of freedom for USV kinetics system is established. By the ES principle, interconnection assignment and damping injection method is applied to the speed and heading control of the closed-loop USV system to realize an overall stability of control mechanism. Simulation results show that the validity and stability of control algorithm can be satisfied with the performance in speed and heading tracking of which the high simplification and portability make it applicable to the various region.