Generalized Predictive Control for Motion Control of Unmanned Surface Vehicle

The technology of USV motion control is important to the integrate performance in USV voyage. This paper focus on the predictive control for USV maneuvering, which aims to solve the problem in the USV motion. The linear models of USV are simplified for predictive control and identified by predictive error method (PEM). Based on identified ARMAX model, the predictive control will be applied to motion control of USV to promote the performance of USV maneuvering. The speed and course of USV are controlled well with predictive control method. The autopilot performs well which is valid in experiment of HUSTER-12s.