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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión 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 originalInglés
Título de la publicación alojadaProceedings of 10th International Conference on Mechatronics and Control Engineering, ICMCE 2021
EditoresGiuseppe Conte, Olivier Sename
EditorialSpringer Science and Business Media Deutschland GmbH
Páginas87-100
Número de páginas14
ISBN (versión impresa)9789811915390
DOI
EstadoPublicada - 2023
Evento10th International Conference on Mechatronics and Control Engineering, ICMCE 2021 - Virtual, Online
Duración: 26 jul. 202128 jul. 2021

Serie de la publicación

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

Conferencia

Conferencia10th International Conference on Mechatronics and Control Engineering, ICMCE 2021
CiudadVirtual, Online
Período26/07/2128/07/21

Nota bibliográfica

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

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