Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach

Chnib, Echrak; Sename, Olivier; Ferrante, Francesco; Rodriguez-Canales, Eduardo S.; Luque, Juan Cutipa

doi:10.1007/978-981-19-1540-6_10

Cited by 2 publications

(1 citation statement)

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“…Finally, regarding robust control techniques, the papers [36], [37] are interesting examples. Both articles propose controllers based on the infinite control theory that could deal with the uncertainties involved.…”

Section: A State Of the Art And Related Workmentioning

confidence: 99%

Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes

et al. 2023

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It is well known that activities in running water or wind and waves expose the Autonomous Surface Vessels (ASVs) to considerable challenges. Under these conditions, it is essential to develop a robust control system that can meet the requirements and ensure the safe and accurate execution of missions. In this context, this paper presents a new topology for controller design based on a combination of the Successive Loop Closure (SLC) method and optimal control. This topology enables the design of robust autopilots based on the Proportional-Integral-Derivative (PID) controller. The controllers are tuned from the solution of the optimal control problem, which aims to minimize the effects of model uncertainties. To verify the effectiveness of the proposed controller, a numerical case study of a natural ASV with 3 Degree of Freedom (DoF) is investigated. The results show that the methodology enabled the tuning of a PID controller capable of dealing with different parametric uncertainties, demonstrating robustness and applicability for different prototype scenarios.INDEX TERMS Robust control design, successive loop closure, optimal control, PID controller, autonomous surface vehicles.

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Section: A State Of the Art And Related Workmentioning

confidence: 99%