Abstract
This paper investigates the course keeping control problem for an unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.
Highlights
With the growing advancement in the sensor technology and navigation aids, unmanned surface vehicle (USV) are becoming a popular tool in maritime domain for several applications ranging from environmental monitoring, military surveillance to scientific surveying, and data collection
Mission oriented approach of USVs subject them to several types of maritime environment comprising of wind, wave, and sea surface currents leading to requirement of designing and developing several autonomy levels for successful operation
Guidance and control of USV plays an important role in motion control system to manipulate the forces to enable a USV to follow a desired path whilst maintaining the stability
Summary
With the growing advancement in the sensor technology and navigation aids, USVs are becoming a popular tool in maritime domain for several applications ranging from environmental monitoring, military surveillance to scientific surveying, and data collection. Mission oriented approach of USVs subject them to several types of maritime environment comprising of wind, wave, and sea surface currents leading to requirement of designing and developing several autonomy levels for successful operation. Waypoint control, path following control and trajectory tracking are generally considered in the domain of marine robotics to enable a USV to follow a designated path [1,2]:. Waypoint control: In this strategy, Line of Sight (LOS) based approach is adopted to follow a certain waypoints, generated heuristically, in the required maritime environment. Trajectory tracking: In this strategy, temporal constraints are enforced upon the path generated using path planners. This is predominantly used with fully actuated marine vehicles reasoned with better maneuvering capabilities. It is intended that vessel steering autopilots will force the ship to follow a predetermined course with a fixed speed by controlling the rudder angle, creating a course keeping problem that the current study is attempting to resolve
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