Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes
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In: IEEE Access, Vol. 11, 25.01.2023, p. 9597-9612.
Research output: Journal contributions › Journal articles › Research › peer-review
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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 -