Dynamic Model and Robust Control of an Autonomous Surface Vessel

LEONARDO GARBEROGLIO; PATRICIO MORENO; IGNACIO MAS; JUAN I. GIRIBET

Buenos Aires

Congreso; Congreso Argentino de Control Automático AADECA 2023; 2023

AADECA

This paper presents the development of a dynamicmodel for an autonomous surface vessel (ASV), with the goal ofcreating a reliable model for developing control algorithms. Thedynamic model was developed using parameter identification viameasurements, estimation, and field experiments. Two controlapproaches, a proportional-integral-derivative (PID) controllerand an adaptive sliding mode controller (ASMC) were designedto track a desired heading and surge speed. The proposedcontrol scheme was validated through simulation and field testexperiments, demonstrating the effectiveness of the control ap-proaches even in the presence of significant disturbances such aswaves and currents. This work contributes to the development ofcontrol approaches for ASVs, which are important in a range ofapplications including oceanography, environmental monitoring,and search and rescue operations. By improving the autonomyand performance of ASVs, researchers can contribute to saferand more efficient operations.