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

doi:10.1007/978-981-19-1540-6_10

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

INGENIERÍA ELECTRÓNICA

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Proceedings of 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021
Editores	Giuseppe Conte, Olivier Sename
Editorial	Springer Science and Business Media Deutschland GmbH
Páginas	87-100
Número de páginas	14
ISBN (versión impresa)	9789811915390
DOI	https://doi.org/10.1007/978-981-19-1540-6_10
Estado	Publicada - 2023
Evento	10th International Conference on Mechatronics and Control Engineering, ICMCE 2021 - Virtual, Online Duración: 26 jul. 2021 → 28 jul. 2021

Serie de la publicación

Nombre	Lecture Notes in Mechanical Engineering
ISSN (versión impresa)	2195-4356
ISSN (versión digital)	2195-4364

Conferencia

Conferencia	10th International Conference on Mechatronics and Control Engineering, ICMCE 2021
Ciudad	Virtual, Online
Período	26/07/21 → 28/07/21

Nota bibliográfica

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

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10.1007/978-981-19-1540-6_10

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Chnib, E., Sename, O., Ferrante, F., Rodriguez Canales, E. S., & Cutipa Luque, J. C. (2023). Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach. En G. Conte, & O. Sename (Eds.), Proceedings of 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021 (pp. 87-100). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-1540-6_10

Chnib, Echrak ; Sename, Olivier ; Ferrante, Francesco et al. / Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach. Proceedings of 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021. editor / Giuseppe Conte ; Olivier Sename. Springer Science and Business Media Deutschland GmbH, 2023. pp. 87-100 (Lecture Notes in Mechanical Engineering).

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

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.",

keywords = "Decoupled control, H robust control, Linear parameter varying (LPV), Unmanned surface vehicle (USV)",

author = "Echrak Chnib and Olivier Sename and Francesco Ferrante and {Rodriguez Canales}, {Eduardo S.} and {Cutipa Luque}, {Juan C.}",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021 ; Conference date: 26-07-2021 Through 28-07-2021",

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Chnib, E, Sename, O, Ferrante, F, Rodriguez Canales, ES & Cutipa Luque, JC 2023, Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach. En G Conte & O Sename (eds.), Proceedings of 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 87-100, 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021, Virtual, Online, 26/07/21. https://doi.org/10.1007/978-981-19-1540-6_10

Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach. / Chnib, Echrak; Sename, Olivier; Ferrante, Francesco et al.
Proceedings of 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021. ed. / Giuseppe Conte; Olivier Sename. Springer Science and Business Media Deutschland GmbH, 2023. p. 87-100 (Lecture Notes in Mechanical Engineering).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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T1 - Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach

AU - Chnib, Echrak

AU - Sename, Olivier

AU - Ferrante, Francesco

AU - Rodriguez Canales, Eduardo S.

AU - Cutipa Luque, Juan C.

PY - 2023

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N2 - 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.

AB - 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.

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KW - H robust control

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Chnib E, Sename O, Ferrante F, Rodriguez Canales ES, Cutipa Luque JC. Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach. En Conte G, Sename O, editores, Proceedings of 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021. Springer Science and Business Media Deutschland GmbH. 2023. p. 87-100. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-981-19-1540-6_10

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

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