Weather Optimal Area Keeping Intermittent Control Based on Reducing Energy Consumption of USV

Considering the ability of underactuated surface vessel (USV) to operate in the prescribed area and realize the area keeping function, an area keeping control method based on reducing energy consumption is proposed. Firstly, according to the MMG model, the mathematical model of three degrees of freedom movement in the horizontal plane of the USV is established by making appropriate assumptions for the research contents of this paper. Then, based on the weather optimal control scheme and the underactuated characteristics of the USV, in order to further reduce energy consumption and increase the working time, a weather optimal area keeping intermittent control strategy is proposed. Design of a safe area according to the control tasks, no control is applied in this area. When the USV exceeds the safe area, the control is applied so that it moves into the safe area. Finally, the simulation results show the effectiveness of the weather optimal area keeping intermittent controller.