Froude-Krylov force estimation and waypoint tracking control of an underactuated model boat

Ya Huang*, Andrea Bucchi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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The current investigation combines the control of boat heading and speed into one logic framework using a proportional waypoint-following regulator in a surge-sway-yaw planer model based on a 1x0.55 m model boat. The proposed control logic uses the thrust angle and the thrust force as control inputs and the boat yaw angle and speed as control outputs. This control scheme is believed to be more intuitive in interpreting the human-machine interaction, and simpler in computational effort in both simulation and deployment. Three sets of hydrodynamic damping coefficients are extracted from the computational fluid dynamics (CFD) simulations assuming only the Froude-Krylov (FK) force and moment due to the incident wave without any structure obstruction. The study clarified the full hydrodynamic forces and moments required for a comprehensive simulation of fluid-structure interaction. The FK simulation results establish the benchmark that can be used to compare and demonstrate effects of different levels of hydrodynamic simplification on path following performances.

Original languageEnglish
Title of host publicationOCEANS 2023 - Limerick
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages9
ISBN (Electronic)9798350332261
ISBN (Print)9798350332278
Publication statusEarly online - 12 Sept 2023
Event2023 OCEANS Limerick, OCEANS Limerick 2023 - Limerick, Ireland
Duration: 5 Jun 20238 Jun 2023


Conference2023 OCEANS Limerick, OCEANS Limerick 2023


  • Froude-Krylov force
  • hydrodynamic drag
  • proportional control
  • trajectory planning
  • unmanned surface vehicle

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