Abstract
This paper discusses the Navigation, Guidance and Control (NGC) system of an Unmanned Surface Vehicle (USV) through extended numerical tests carried out with the prototype autonomous catamaran Charlie. A cascade control scheme is proposed which provides accurate straight line following performance with an USV equipped only with a GPS, a compass and an extended Kalman filter to estimate the vehicle position and speed. In the considered solution an outer Discrete-Time Sliding Mode Control (DTSMC) loop is designed for the guidance of the USV and an inner PI-based gain scheduling control loop regulates the vehicle linear and angular speed. Reported numerical tests show that the adopted control scheme produces good performance for straight lines following tasks.
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