A Strategy of Robust Control for the Dynamics of an Unmanned Surface Vehicle under Marine Waves and Currents
Joint Authors
Velueta, Manuel J.
Rullan, Jose L.
Ruz-Hernandez, Jose A.
Alazki, H.
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-03-11
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This work addresses one of the most common problems for mobile robotics (autonomous navigation) but is applied to the dynamical model of a catamaran of small dimensions for monitoring and data acquisition applications.
In this work, we present the study of the dynamics of a USV (Unmanned Surface Vehicle) under the presence of two simulated environmental perturbations: marine induced waves and currents.
The mathematical model of the vehicle is studied and the equations that describe the behavior of environmental perturbations are also described.
A numerical simulation of the model considering the effects of these perturbations is carried out in three degrees of freedom.
Also, a strategy of robust control-based Sliding Mode Control (SMC) is developed for counteracting the effects of the perturbations over the trajectory of the USV.
American Psychological Association (APA)
Velueta, Manuel J.& Rullan, Jose L.& Ruz-Hernandez, Jose A.& Alazki, H.. 2019. A Strategy of Robust Control for the Dynamics of an Unmanned Surface Vehicle under Marine Waves and Currents. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1195723
Modern Language Association (MLA)
Velueta, Manuel J.…[et al.]. A Strategy of Robust Control for the Dynamics of an Unmanned Surface Vehicle under Marine Waves and Currents. Mathematical Problems in Engineering No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1195723
American Medical Association (AMA)
Velueta, Manuel J.& Rullan, Jose L.& Ruz-Hernandez, Jose A.& Alazki, H.. A Strategy of Robust Control for the Dynamics of an Unmanned Surface Vehicle under Marine Waves and Currents. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1195723
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195723