Network-Based Dynamic Output Feedback Control of UMVs

This chapter is concerned with network-based modeling and dynamic output feedback control for a UMVUnmanned Marine Vehicles (UMVs) in network environments. A network-based model for the UMVUnmanned Marine Vehicles (UMVs) is established by taking sampler-to-control station packet dropouts, network-induced delays, and packet disordering into account. This model is then extended to the UMVUnmanned Marine Vehicles (UMVs) system subject to control station-to-actuator, and both sampler-to-control station and control station-to-actuator packet dropouts, network-induced delays, and packet disordering. Based on these models, DOFCsDynamic Output Feedback Control (DOFC) are designed to attenuate the oscillation amplitudes of the yaw velocity error and the yaw angle.