Adaptative Integral Sliding Mode Based Course Keeping Control of Unnamded Surface Vehicle

dc.contributor.authorGonzález-Prieto, José Antonio
dc.contributor.authorPérez-Collazo, Carlos
dc.contributor.authorSing, Yogangh
dc.date.accessioned2023-05-30T09:37:27Z
dc.date.available2023-05-30T09:37:27Z
dc.date.issued2022
dc.description.abstractThis 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.
dc.identifier.citationhttps://doi.org/10.3390/jmse10010068
dc.identifier.urihttp://calderon.cud.uvigo.es/handle/123456789/26
dc.language.isoen
dc.publisherJournal of Marine Science and Engineering, 2022, 10, 68
dc.titleAdaptative Integral Sliding Mode Based Course Keeping Control of Unnamded Surface Vehicle
dc.typeArticle
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