Design of the Intelligence Motion Control System for the High-Speed USV

Abstract

Research on enhancing the motion intelligence for water-jet-propelled Unmanned Surface Vehicle was undertaken. The hardware architecture of the USV’S intelligent motion control system is presented in detail. According to its hardware configuration and working environment, the characteristic of USV system was analysed, which is that the system is an under-actuated, huge-disturbance, uncertainty and nonlinear coupled system. In order to solving its intelligent control problem, a software design method, which is based on modularization and used in the VxWorks operating system, was presented. Then the software architecture for the intelligent motion control system was designed based on the method in detail. Finally, the simulation for the USV intelligent motion control system was done, and it showed that the intelligent system is reliability and feasibility.