Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes

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 mission...

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Bibliographic Details
Published in:IEEE access 2023-01, Vol.11, p.1-1
Main Authors: Dos Santos, Murillo Ferreira, Dos Santos Neto, Accacio Ferreira, De Mello Honorio, Leonardo, Da Silva, Mathaus Ferreira, Mercorelli, Paolo
Format: Article
Language:English
Subjects:
Automatic pilots
Autonomous Surface Vehicles
Control systems
Control systems design
Controllers
Degrees of freedom
Optimal control
PID controller
Proportional integral derivative
Prototypes
Robust control
Robust Control Design
Successive Loop Closure
Topology
Tuning
Uncertainty
Vehicle dynamics
Vessels
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Summary: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.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2023.3239591