Abstract
This work deals with guidance and control of an unmanned surface vehicle which has the mission to monitor au-tonomously the water quality condition in Peruvian sea onshore. The vehicle is a catamaran class with two slender bodies propelled by two electric thrusts in differential and common modes in order to maneuver in surge and in yaw directions. A multivariable control approach is proposed in order to control these two variables and a fuzzy logic-based guidance tracks predefined trajectories at the sea surface. The conjunction between robust control and guidance algorithms is validated numerically and the results show good stability and performance despite the presence of disturbance, noise sensors and model uncertainties.
Highlights
The growth, industrialization and concentration of mass population in metropolitan cities have produced risks to vulnerable areas
In [2], the authors present the DELFIM unmanned surface vehicles (USVs) designed to carry out mission tasks of data acquisition of marine environment and to serve as a communication hub between a terrain base and multiple autonomous underwater vehicles
The organization of this paper follows: section I presents the introduction over guidance and control in unmanned maritime vehicles, section II presents the mathematical model representation of the EDSON-J USV, section III presents the robust and multivariable control approach, section IV presents the guidance based on fuzzy and LOS approaches, section V presents the numerical results using a simulator and section www.ijacsa.thesai.org (IJACSA) International Journal of Advanced Computer Science and Applications, Vol 11, No 8, 2020
Summary
The growth, industrialization and concentration of mass population in metropolitan cities have produced risks to vulnerable areas. Peruvian public institutions monitor regularly the ocean and lagoons using manned craft and ships through local instrumentation, remote sensing and sampled data analysis [1] These activities demand steady and high financial support and the use of unmanned surface vehicles (USVs) is becoming more attractive for research institutions due to low-cost, autonomy, and to reduce human risks. The organization of this paper follows: section I presents the introduction over guidance and control in unmanned maritime vehicles, section II presents the mathematical model representation of the EDSON-J USV, section III presents the robust and multivariable control approach, section IV presents the guidance based on fuzzy and LOS approaches, section V presents the numerical results using a simulator and section www.ijacsa.thesai.org
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