Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach

Echrak Chnib, Olivier Sename, Francesco Ferrante, Eduardo S. Rodriguez Canales, Juan C. Cutipa Luque

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a decoupled control of a twin hull-based Unmanned Surface Vehicle EDSON-J, using the H approach for Linear Parameter Varying (LPV) polytopic systems. This method was adapted in order to guarantee robust stability and performance regarding the important nonlinearities and the uncertainties on the hydrodynamics parameters. After the presentation of the nonlinear model and the decoupled model of the USV considered for the study, an LPV model was built, regarding the mass of the vehicle as unique varying parameter. Then the methodology of the control law applied is exposed and simulation results are presented. A comparison with the LTI/ H approach will show the interest of the method in terms of performance.

Original languageEnglish
Title of host publicationProceedings of 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021
EditorsGiuseppe Conte, Olivier Sename
PublisherSpringer Science and Business Media Deutschland GmbH
Pages87-100
Number of pages14
ISBN (Print)9789811915390
DOIs
StatePublished - 2023
Event10th International Conference on Mechatronics and Control Engineering, ICMCE 2021 - Virtual, Online
Duration: 26 Jul 202128 Jul 2021

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference10th International Conference on Mechatronics and Control Engineering, ICMCE 2021
CityVirtual, Online
Period26/07/2128/07/21

Bibliographical note

Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

Keywords

  • Decoupled control
  • H robust control
  • Linear parameter varying (LPV)
  • Unmanned surface vehicle (USV)

Fingerprint

Dive into the research topics of 'Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach'. Together they form a unique fingerprint.

Cite this