Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Adaptive Integral Sliding Mode based Path Following Control of Unmanned Surface Vehicle

Version 1 : Received: 22 November 2021 / Approved: 23 November 2021 / Online: 23 November 2021 (12:37:17 CET)

A peer-reviewed article of this Preprint also exists.

González-Prieto, J.A.; Pérez-Collazo, C.; Singh, Y. Adaptive Integral Sliding Mode Based Course Keeping Control of Unmanned Surface Vehicle. J. Mar. Sci. Eng. 2022, 10, 68. González-Prieto, J.A.; Pérez-Collazo, C.; Singh, Y. Adaptive Integral Sliding Mode Based Course Keeping Control of Unmanned Surface Vehicle. J. Mar. Sci. Eng. 2022, 10, 68.

Journal reference: J. Mar. Sci. Eng. 2022, 10, 68
DOI: 10.3390/jmse10010068

Abstract

This paper investigates the path following control problem for a 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.

Keywords

Unmanned Surface Vehicle; Guidance; Navigation and Control; Path Following; Adaptive Sliding Mode

Subject

ENGINEERING, Control & Systems Engineering

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