Construction of Simulation System for USV Motion Control and Design of Multi-Mode Controllers Based on VRX and Simulink
For the design and verification of a motion control algorithm for unmanned surface vehicles, a simulation system is developed based on VRX and Simulink. Firstly, considering the effect of wind, a dynamic model of the USV with podded propellers is established. Secondly, combined with speed control, t...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/8/4213 |
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| author | Peisen Jin Wenkui Li Yuhao Yang Chenyang Shan Yawen Zhang |
| author_facet | Peisen Jin Wenkui Li Yuhao Yang Chenyang Shan Yawen Zhang |
| author_sort | Peisen Jin |
| collection | DOAJ |
| description | For the design and verification of a motion control algorithm for unmanned surface vehicles, a simulation system is developed based on VRX and Simulink. Firstly, considering the effect of wind, a dynamic model of the USV with podded propellers is established. Secondly, combined with speed control, three control modes are considered, including yaw rate control, heading control, and path-following control, and speed, heading, yaw rate, and path guidance controllers are designed. Then, a real-time simulation system is developed based on the Virtual RobotX (VRX) environment and the Simulink ROS2 toolbox. Finally, motion control simulation experiments under three control modes and a path-following water tank experiment are carried out. The designed simulation system can simulate the motion of USVs and different environmental elements, such as wind, intuitively and realistically. In simulation experiments, the designed controllers can make the USV follow commands quickly and accurately under three control modes. In the water tank experiment, the USV could stably track the desired path with a relatively small tracking error. Therefore, the effectiveness of the simulation system is strongly confirmed through simulation experiments and the water tank experiment. The simulation system will be expanded in the future for more research on target recognition, path planning, and other aspects of USVs. |
| format | Article |
| id | doaj-art-e4f63e297c984b088c013770784c2b79 |
| institution | OA Journals |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-e4f63e297c984b088c013770784c2b792025-08-20T02:24:43ZengMDPI AGApplied Sciences2076-34172025-04-01158421310.3390/app15084213Construction of Simulation System for USV Motion Control and Design of Multi-Mode Controllers Based on VRX and SimulinkPeisen Jin0Wenkui Li1Yuhao Yang2Chenyang Shan3Yawen Zhang4College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaFor the design and verification of a motion control algorithm for unmanned surface vehicles, a simulation system is developed based on VRX and Simulink. Firstly, considering the effect of wind, a dynamic model of the USV with podded propellers is established. Secondly, combined with speed control, three control modes are considered, including yaw rate control, heading control, and path-following control, and speed, heading, yaw rate, and path guidance controllers are designed. Then, a real-time simulation system is developed based on the Virtual RobotX (VRX) environment and the Simulink ROS2 toolbox. Finally, motion control simulation experiments under three control modes and a path-following water tank experiment are carried out. The designed simulation system can simulate the motion of USVs and different environmental elements, such as wind, intuitively and realistically. In simulation experiments, the designed controllers can make the USV follow commands quickly and accurately under three control modes. In the water tank experiment, the USV could stably track the desired path with a relatively small tracking error. Therefore, the effectiveness of the simulation system is strongly confirmed through simulation experiments and the water tank experiment. The simulation system will be expanded in the future for more research on target recognition, path planning, and other aspects of USVs.https://www.mdpi.com/2076-3417/15/8/4213USVROS2Simulinkmotion controlsimulation systemVRX |
| spellingShingle | Peisen Jin Wenkui Li Yuhao Yang Chenyang Shan Yawen Zhang Construction of Simulation System for USV Motion Control and Design of Multi-Mode Controllers Based on VRX and Simulink Applied Sciences USV ROS2 Simulink motion control simulation system VRX |
| title | Construction of Simulation System for USV Motion Control and Design of Multi-Mode Controllers Based on VRX and Simulink |
| title_full | Construction of Simulation System for USV Motion Control and Design of Multi-Mode Controllers Based on VRX and Simulink |
| title_fullStr | Construction of Simulation System for USV Motion Control and Design of Multi-Mode Controllers Based on VRX and Simulink |
| title_full_unstemmed | Construction of Simulation System for USV Motion Control and Design of Multi-Mode Controllers Based on VRX and Simulink |
| title_short | Construction of Simulation System for USV Motion Control and Design of Multi-Mode Controllers Based on VRX and Simulink |
| title_sort | construction of simulation system for usv motion control and design of multi mode controllers based on vrx and simulink |
| topic | USV ROS2 Simulink motion control simulation system VRX |
| url | https://www.mdpi.com/2076-3417/15/8/4213 |
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