Adaptive Sliding Mode Control of USV in Wind and Wave Environment

EasyChair Preprint 5686

Abstract

The control of Unmanned Surface Vessel (USV) has been a hot topic recently years. To guarantee the good tracking properties and robustness of USV, exterior disturbance and inner uncertainty should be considered in the controller design. Exterior disturbance includes wind and wave forces, while inner uncertainty includes the variation of physical parameters and unmodelled parts of USV. Considering the external disturbance, the nonlinear model of USV is established based on Abkowitz model. Then the wave compensation is proposed for large exterior disturbance, and an adaptive sliding mode controller with disturbance estimation is designed for all uncertain disturbances. The method can estimate the uncertainty and adjust the controller gains by adaptive law. Next, the stability of the system is verified by Lyapunov theory. Finally, simulation results demonstrate the effectiveness of the proposed control approach.

Keyphrases: Heading control, USV, adaptive sliding mode control, environmental disturbance

@booklet{EasyChair:5686,
  author    = {Xinru Gao and Shurong Li and Xiaodong Zhang},
  title     = {Adaptive Sliding Mode Control of USV in Wind and Wave Environment},
  howpublished = {EasyChair Preprint 5686},
  year      = {EasyChair, 2021}}