Adaptative Integral Sliding Mode Based Course Keeping Control of Unnamded Surface Vehicle
Fecha
2022-01-06Autor
González-Prieto, José Antonio
Pérez-Collazo, Carlos
Sing, Yogangh
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This paper investigates the course keeping control problem for an unmanned surface vehicle
(USV) in the presence of unknown disturbances and system uncertainties. The simulation study
combines two different types of sliding mode surface based control approaches due to its precise
tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode
surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive
integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition.
Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate
restriction and desired precision within boundary conditions is presented. The main strengths of
proposed approach is simplicity, robustness with respect to external disturbances and high adaptability
to static and dynamics reference courses without the need of parameter reconfiguration.