Abstract
This work addresses one of the most common problems for mobile robotics (autonomous navigation) but is applied to the dynamical model of a catamaran of small dimensions for monitoring and data acquisition applications. In this work, we present the study of the dynamics of a USV (Unmanned Surface Vehicle) under the presence of two simulated environmental perturbations: marine induced waves and currents. The mathematical model of the vehicle is studied and the equations that describe the behavior of environmental perturbations are also described. A numerical simulation of the model considering the effects of these perturbations is carried out in three degrees of freedom. Also, a strategy of robust control-based Sliding Mode Control (SMC) is developed for counteracting the effects of the perturbations over the trajectory of the USV.
Highlights
Mobile robotics has been widely studied for a long time ago; very important advances in technology and science have allowed that autonomous navigation could be possible today
We present the study of the dynamics of a Unmanned Surface Vehicles (USVs) (Unmanned Surface Vehicle) under the presence of two simulated environmental perturbations: marine induced waves and currents
In [2] a control strategy for maneuvering of ships was tested for a model ship in a marine control laboratory; the results show the effectiveness of the proposed control strategy, but they are limited because it only tests the performance of the controller under uncertainties in the model; no external perturbations are added to the experiment
Summary
Mobile robotics has been widely studied for a long time ago; very important advances in technology and science have allowed that autonomous navigation could be possible today. A work for the path-following problem in which the marine currents are considered in the dynamical model, is presented in [9]; the effects of the disturbances are considered at the kinematic and kinetic level; the current velocities are constants and an illustrative example is given to verify the proposed method; in [10], a path-following control design method is presented for autonomous underwater vehicles (AUV) subject to velocity and input constrains. The model of the USV is described; the equations to include in simulation corresponding to environmental perturbations (marine waves and currents) are presented; by last a robust control technique is used to reject the effects of the perturbations over the performance of the vehicle. The numerical simulation results and some conclusions of this paper are presented in the last section
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