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A Strategy of Robust Control for the Dynamics of an Unmanned Surface Vehicle under Marine Waves and Currents

Author

Listed:
  • Manuel J. Velueta
  • Jose L. Rullan
  • Jose A. Ruz-Hernandez
  • H. Alazki

Abstract

This work addresses one of the most common problems for mobile robotics (autonomous navigation) but is applied to the dynamical model of a catamaran of small dimensions for monitoring and data acquisition applications. In this work, we present the study of the dynamics of a USV (Unmanned Surface Vehicle) under the presence of two simulated environmental perturbations: marine induced waves and currents. The mathematical model of the vehicle is studied and the equations that describe the behavior of environmental perturbations are also described. A numerical simulation of the model considering the effects of these perturbations is carried out in three degrees of freedom. Also, a strategy of robust control-based Sliding Mode Control (SMC) is developed for counteracting the effects of the perturbations over the trajectory of the USV.

Suggested Citation

  • Manuel J. Velueta & Jose L. Rullan & Jose A. Ruz-Hernandez & H. Alazki, 2019. "A Strategy of Robust Control for the Dynamics of an Unmanned Surface Vehicle under Marine Waves and Currents," Mathematical Problems in Engineering, Hindawi, vol. 2019, pages 1-12, March.
    • Handle: RePEc:hin:jnlmpe:4704567
    DOI: 10.1155/2019/4704567
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