Decoupled Control of a Twin Hull-Based Unmanned Surface Vehicle Using a Linear Parameter Varying Approach

Chnib E.; Sename O.; Ferrante F.; Rodriguez Canales E.S.; Cutipa Luque J.C. · Lecture Notes in Mechanical Engineering (2023) · DOI: 10.1007/978-981-19-1540-6_10

Resumen

This paper presents a decoupled control of a twin hull-based Unmanned Surface Vehicle EDSON-J, using the H∞ approach for Linear Parameter Varying (LPV) polytopic systems. This method was adapted in order to guarantee robust stability and performance regarding the important nonlinearities and the uncertainties on the hydrodynamics parameters. After the presentation of the nonlinear model and the decoupled model of the USV considered for the study, an LPV model was built, regarding the mass of the vehicle as unique varying parameter. Then the methodology of the control law applied is exposed and simulation results are presented. A comparison with the LTI/ H∞ approach will show the interest of the method in terms of performance.

Instituciones: Universidad Nacional de San Agustín de Arequipa