Abstract
This paper presents a positional stabilization controller for the under-actuators USV model based on a Hierarchical Sliding Mode Control System (HSMC) that takes into account environmental influences when operating as the flow, waves and wind. The controller presents successful simulation results demonstrating stability in the presence of noise. It helps to reduce energy loss in human activities at the sea.
Highlights
Water surface occupies a very large area of the Earth
For the class system of under-actuator, the Hierarchy Sliding Mode Control (HSMC) method proves its effectiveness in documents [6], [7], [8]
The simulation results from figure 2, 3, 4, 5 show that the quality of the Hierarchy Sliding Mode Control controller for Unmanned Surface Vehicle (USV) is very good with the time specified in the x-direction is 20s, in the y-direction is 40s and in the angle is 43s, the over-adjustment and the setting error are small
Summary
Water surface occupies a very large area of the Earth. the demand of transport, construction, rescue and rescue, exploration, and military service ... is great, so improving the quality of control for marine vehicles will greatly reduce energy loss in human activities at sea. In recent years, Unmanned Surface Vehicle (USV) attracts a lot of attention from scientists. Controlling the USV is a major challenge for researchers because of the strong and complex nonlinearity of the itself model and the operating environment. There have been some studies on linear [11] and nonlinear control of USV, boats and in articles [1], [3], [4], [5]. USV in the class under-actuators when the number of control signals is less than the number of degrees of freedom of the vehicle’s model. For the class system of under-actuator, the Hierarchy Sliding Mode Control (HSMC) method proves its effectiveness in documents [6], [7], [8]
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