Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes

Research output: Journal contributionsJournal articlesResearchpeer-review


  • Murillo Ferreira Dos Santos
  • Accacio Ferreira Dos Santos Neto
  • Leonardo De Mello Honorio
  • Mathaus Ferreira Da Silva
  • Paolo Mercorelli

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.

Original languageEnglish
JournalIEEE Access
Pages (from-to)9597-9612
Number of pages16
Publication statusPublished - 25.01.2023

Bibliographical note

Publisher Copyright:
© 2013 IEEE.

    Research areas

  • 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