Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Standard

Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes. / Dos Santos, Murillo Ferreira; Dos Santos Neto, Accacio Ferreira; De Mello Honorio, Leonardo et al.

in: IEEE Access, Jahrgang 11, 25.01.2023, S. 9597-9612.

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Harvard

Dos Santos, MF, Dos Santos Neto, AF, De Mello Honorio, L, Da Silva, MF & Mercorelli, P 2023, 'Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes', IEEE Access, Jg. 11, S. 9597-9612. https://doi.org/10.1109/ACCESS.2023.3239591

APA

Dos Santos, M. F., Dos Santos Neto, A. F., De Mello Honorio, L., Da Silva, M. F., & Mercorelli, P. (2023). Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes. IEEE Access, 11, 9597-9612. https://doi.org/10.1109/ACCESS.2023.3239591

Vancouver

Dos Santos MF, Dos Santos Neto AF, De Mello Honorio L, Da Silva MF, Mercorelli P. Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes. IEEE Access. 2023 Jan 25;11:9597-9612. doi: 10.1109/ACCESS.2023.3239591

Bibtex

@article{519f2ab1227742e79984a81e674082e2,
title = "Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes",
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.",
keywords = "Autonomous Surface Vehicles, Control systems, Optimal control, Optimal Control, pid Controller, Robust control, Robust Control Design, Successive Loop Closure, Topology, Tuning, Uncertainty, Vehicle dynamics, Engineering",
author = "{Dos Santos}, {Murillo Ferreira} and {Dos Santos Neto}, {Accacio Ferreira} and {De Mello Honorio}, Leonardo and {Da Silva}, {Mathaus Ferreira} and Paolo Mercorelli",
note = "This publication was funded by the German Research Foundation (DFG) and the Open Access Publication Fund of the Leuphana University of L{\"u}neburg. Publisher Copyright: {\textcopyright} 2013 IEEE.",
year = "2023",
month = jan,
day = "25",
doi = "10.1109/ACCESS.2023.3239591",
language = "English",
volume = "11",
pages = "9597--9612",
journal = "IEEE Access",
issn = "2169-3536",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

RIS

TY - JOUR

T1 - Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes

AU - Dos Santos, Murillo Ferreira

AU - Dos Santos Neto, Accacio Ferreira

AU - De Mello Honorio, Leonardo

AU - Da Silva, Mathaus Ferreira

AU - Mercorelli, Paolo

N1 - This publication was funded by the German Research Foundation (DFG) and the Open Access Publication Fund of the Leuphana University of Lüneburg. Publisher Copyright: © 2013 IEEE.

PY - 2023/1/25

Y1 - 2023/1/25

N2 - 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.

AB - 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.

KW - Autonomous Surface Vehicles

KW - Control systems

KW - Optimal control

KW - Optimal Control

KW - pid Controller

KW - Robust control

KW - Robust Control Design

KW - Successive Loop Closure

KW - Topology

KW - Tuning

KW - Uncertainty

KW - Vehicle dynamics

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85147263648&partnerID=8YFLogxK

U2 - 10.1109/ACCESS.2023.3239591

DO - 10.1109/ACCESS.2023.3239591

M3 - Journal articles

AN - SCOPUS:85147263648

VL - 11

SP - 9597

EP - 9612

JO - IEEE Access

JF - IEEE Access

SN - 2169-3536

ER -

DOI