Network-Based Heading Control of UMVs

This chapter addresses network-based heading controlHeading control and rudder oscillation reduction for a UMVUnmanned Marine Vehicles (UMVs) equipped with single rudder in network environments. A novel network-based model is first established by constructing a heading controlHeading control error system and purposely dropping some control input packets, which are received by a steering machine. Then a stabilization criterion is derived to guarantee the heading angle tracking performance and to reduce the oscillation of the rudder angle.