Title
Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach
Date Issued
01 January 2023
Access level
open access
Resource Type
conference paper
Author(s)
Publisher(s)
Springer Science and Business Media Deutschland GmbH
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.
Start page
87
End page
100
Language
English
OCDE Knowledge area
Ingeniería eléctrica, Ingeniería electrónica
Ingeniería aeroespacial
Subjects
Scopus EID
2-s2.0-85135058069
Source
Lecture Notes in Mechanical Engineering
Resource of which it is part
Lecture Notes in Mechanical Engineering
ISSN of the container
21954356
ISBN of the container
9789811915390
Conference
10th International Conference on Mechatronics and Control Engineering, ICMCE 2021
Sources of information:
Directorio de Producción Científica
Scopus