Network-based modelling and dynamic output feedback control for unmanned marine vehicles in network environments

This paper is concerned with network-based modelling and dynamic output feedback control for an unmanned marine vehicle in network environments. A network-based model for the unmanned marine vehicle in the network environments is established for the first time by taking sampler-to-control station packet dropouts, network-induced delays, and packet disordering into account. This model is then extended to the unmanned marine vehicle system in the network environments 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, dynamic output feedback controllers are designed to attenuate the oscillation amplitudes of the yaw velocity error and the yaw angle. It is shown through a benchmark example that (i) compared with the unmanned marine vehicle without control, the designed dynamic output feedback controllers can attenuate the oscillation amplitudes of the yaw velocity error and the yaw angle; and (ii) the designed dynamic output feedback controllers can provide much smaller oscillation amplitudes of the yaw velocity error and the yaw angle than a proportional–integral controller.