LPV/ H Control of a Twin Hull-Based Unmanned Surface Vehicle

Eduardo S. Rodriguez-Canales, Wilson Turpo Zúñiga

Research output: Contribution to journalArticlepeer-review

Abstract

This work presents a robust control system for a twin hull-based unmanned surface vehicle, named EDSON-J, which is being built at the Universidad Nacional de San Agustín de Arequipa and whose main mission is the autonomous monitoring of ocean water quality and lagoons vulnerable to heavy metal contamination. The vehicle has been designed to carry additional payload consisting of electronic instrumentation destined to measure the water conditions in real time. This paper focuses on the control design of controllers for an unmanned surface vehicle with mass as parameter varying. The approach used is the linear parameter-varying control (LPV control); its goal is to synthesize a controller that guarantees robust stability and performance of the system despite the presence of parameter varying, disturbances and sensor noise. The simulation results, in frequency domain and time domain, show an improvement in the LPV robust control approach in comparison with LTI/H controllers.

Original languageEnglish
Pages (from-to)245-255
Number of pages11
JournalJournal of Control, Automation and Electrical Systems
Volume32
Issue number2
DOIs
StatePublished - Apr 2021

Bibliographical note

Funding Information:
This document is the result of the research project funded by the Universidad Nacional de San Agustín de Arequipa, with Grant IBAIB-08-2018-UNSA.

Funding Information:
The authors thank the Universidad Nacional de San Agustín de Arequipa for supporting this research since 2019 under Grant No. IBAIB-08-2018-UNSA. The authors thank Prof. Dr. Antonio Pascoal for sharing essential information for the development of this work.

Funding Information:
The authors thank the Universidad Nacional de San Agust?n de Arequipa for supporting this research since 2019 under Grant No. IBAIB-08-2018-UNSA. The authors thank Prof. Dr. Antonio Pascoal for sharing essential information for the development of this work.

Publisher Copyright:
© 2021, Brazilian Society for Automatics--SBA.

Keywords

  • Linear parameter varying (LPV)
  • Maneuvering model
  • Robust control
  • Unmanned surface vehicle (USV)

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