Please use this identifier to cite or link to this item:
https://doi.org/10.48548/pubdata-1439
| Resource type | Journal Article |
| Title(s) | Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes |
| DOI | 10.48548/pubdata-1439 |
| Handle | 20.500.14123/1508 |
| Creator | Dos Santos, Murillo Ferreira  0000-0002-6568-1121Dos Santos Neto, Accacio Ferreira 0000-0003-1942-4412de Mello Honório, Leonardo 0000-0003-2735-4792da Silva, Mathaus Ferreira 0000-0002-6457-1772Mercorelli, Paolo 0000-0003-3288-5280 |
| Abstract | It is well known that activities in running water or wind and waves expose the Autonomous Surface Vessels (ASVs) to considerable challenges. Under these conditions, it is essential to develop a robust control system that can meet the requirements and ensure the safe and accurate execution of missions. In this context, this paper presents a new topology for controller design based on a combination of the Successive Loop Closure (SLC) method and optimal control. This topology enables the design of robust autopilots based on the Proportional-Integral-Derivative (PID) controller. The controllers are tuned from the solution of the optimal control problem, which aims to minimize the effects of model uncertainties. To verify the effectiveness of the proposed controller, a numerical case study of a natural ASV with 3 Degree of Freedom (DoF) is investigated. The results show that the methodology enabled the tuning of a PID controller capable of dealing with different parametric uncertainties, demonstrating robustness and applicability for different prototype scenarios. |
| Language | English |
| Keywords | Autonomous Surface Vehicle; PID Controller; Robust Control Design; Successive Loop Closure |
| Year of publication in PubData | 2024 |
| Publishing type | Parallel publication |
| Publication version | Published version |
| Date issued | 2023-01-25 |
| Creation context | Research |
| Notes | This publication was funded by the German Research Foundation (DFG). |
| Published by | Medien- und Informationszentrum, Leuphana Universität Lüneburg |
| Related resources |
Information regarding first publication
| Field | Value |
|---|---|
| Resource type | Journal |
| Title of the resource type | IEEE Access |
| Identifier | DOI: 10.1109/ACCESS.2023.3239591 |
| Publication year | 2023 |
| Volume | 11 |
| Pages | 9597 - 9612 |
| Publisher | IEEE |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
Murillo_Ferreira_Robust_and_Optimal_Control_Designed_for_Autonomous_Surface_Vessel_Prototypes.pdf License: 
open-access | 2.78 MB | Adobe PDF | View/Open |
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