Patent ID: 11921505
Assignee: WUHAN UNIVERSITY OF TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G  B  H | IPC B  G  H

Claim 1:
2. The method according to claim 1, wherein the step S1 comprises:
S1.1: considering a hull fixed reference system and an earth fixed reference system, selecting a central position of the unmanned surface vehicle as an origin of coordinates, and obtaining an unmanned surface vehicle dynamic model through a kinetic equation and a kinematical equation of the unmanned surface vehicle in three degrees of freedom of swaying, surging and yawing;
S1.2: performing coordinate transformation based on the unmanned surface vehicle dynamic model and applying to a control system model to obtain an improved mathematical model suitable for mean square stability analysis; and
S1.3: transforming the improved mathematical model suitable for mean square stability analysis into a state-space equation model.