Robust Control and Fuzzy Logic Guidance for an Unmanned Surface Vehicle

This work deals with guidance and control of an unmanned surface vehicle which has the mission to monitor au-tonomously the water quality condition in Peruvian sea onshore. The vehicle is a catamaran class with two slender bodies propelled by two electric thrusts in differential and common modes in...

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Bibliographic Details
Published in:International journal of advanced computer science & applications 2020, Vol.11 (8)
Main Authors: Huayna-Aguilar, Marcelo M., C., Juan, Raul, Pablo
Format: Article
Language:English
Subjects:
Algorithms
Catamarans
Fuzzy control
Fuzzy logic
Multivariable control
Robust control
Slender bodies
Surface vehicles
Unmanned vehicles
Water quality
Yaw
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Summary:This work deals with guidance and control of an unmanned surface vehicle which has the mission to monitor au-tonomously the water quality condition in Peruvian sea onshore. The vehicle is a catamaran class with two slender bodies propelled by two electric thrusts in differential and common modes in order to maneuver in surge and in yaw directions. A multivariable control approach is proposed in order to control these two variables and a fuzzy logic-based guidance tracks predefined trajectories at the sea surface. The conjunction between robust control and guidance algorithms is validated numerically and the results show good stability and performance despite the presence of disturbance, noise sensors and model uncertainties.
ISSN:2158-107X
2156-5570
DOI:10.14569/IJACSA.2020.0110894