Model Establishment for Path Following Control of Unmanned Surface Vehicles (USVs)

In order to investigate the motion control of unmanned surface vehicles (USVs), it is necessary to address the issue of model establishment first. The motion of USVs involves six degrees of freedom (DOF) with complex coupling relationships between different directions, which increases the complexity of research. The focus of this paper is on path following control, thus a model of USVs with three DOFs is appropriate.