Chinese Journal of Ship Research, Volume. 20, Issue 1, 263(2025)
BLF-based adaptive path following control for unmanned surface vehicles under shallow water effects
Figures & Tables(9)
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Table 1. Principle parameters of Dazhi unmanned surface vehicle[24]
View tableView in ArticleTable 1. Principle parameters of Dazhi unmanned surface vehicle[24]
参数 数值 垂线间长 $L/{\text{m}}$ 164.0 平均吃水 $d/{\text{m}}$ 9.5 设计船速 ${V_0}/{\text{kn}}$ 14.0 船宽 $B/{\text{m}}$ 32.0 型深 $D/{\text{m}}$ 15.0 排水体积 ${\nabla}/\text{m}^3 $ 37 853.6 方形系数 ${C_{\text{b}}}$ 0.759
Table 2. Dimensionless hydrodynamic parameters of Dazhi unmanned surface vehicle in shallow water
View tableView in ArticleTable 2. Dimensionless hydrodynamic parameters of Dazhi unmanned surface vehicle in shallow water
参数 数值 参数 数值 ${N_\delta }$ −0.000 836 ${Y_\delta }$ 0.001 673 ${N_r}$ −0.006 736 ${N_v}$ 0.000 806 ${Y_v}$ −0.012 806 ${N_{\dot v}}$ −0.006 734 ${Y_r}$ −0.021 32 ${Y_{\dot v}}$ −0.021 321
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Qiang GUO, Jiaqi WANG, Xianku ZHANG, Daocheng MA. BLF-based adaptive path following control for unmanned surface vehicles under shallow water effects[J]. Chinese Journal of Ship Research, 2025, 20(1): 263
Paper Information
Category: Motion Control
Received: Oct. 28, 2024
Accepted: Dec. 11, 2024
Published Online: Mar. 13, 2025
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