Track-keeping observer-based robust adaptive control of an unmanned surface vessel by applying a 4-DOF maneuvering model

• Published in: Ocean engineering Vol. 183; pp. 11 - 23
• Main Authors: Faramin, M., Goudarzi, R.H., Maleki, A.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.07.2019
• Subjects: Adaptive observer-based control; Line-of-Sight; Linear matrix inequality; Sliding mode; Unnamed surface vessel; Linear matrix inequality; Unnamed surface vessel; Line-of-Sight; Adaptive observer-based control; Sliding mode
• ISSN: 0029-8018
• DOI: 10.1016/j.oceaneng.2019.04.051

The present study addresses the speed and steering controller design for the maneuvering motions of an unmanned surface vessel (USV). Based on a 4-DOF nonlinear mathematical model for the maneuvering motions of the proposed USV with multi-inputs and multi-outputs, an adaptive sliding mode controller based on Lyapunov analysis is designed to follow the desired velocity and to estimate unknown parameters for the separated surge motion. In addition, for the steering motion control, an augmented model including the heading motion and output tracking error integral is presented. In accordance with the proposed model, an observer-based model reference adaptive controller is developed, leading to a convex optimization problem subject to matrix inequalities. The reference heading angle is extracted from an adaptive line-of-sight (LOS) guidance algorithm based on waypoints. Finally, the simulation results of tracking several maneuvering motion paths indicate the efficiency of the proposed approach is satisfactory and superior compared with PID controller. •Using a 4-DOF maneuvering model for the control purposes of an unmanned surface vessel.•Designing an adaptive sliding mode controller to track the desired surge velocity.•Developing an augmented structure of observer–based robust adaptive model reference controller for the desired heading.•Closed-loop stability analysis of observer-based adaptive control is formulated as a convex optimization problem.•Waypoint-based adaptive LOS guidance algorithm is used.•The numerical simulations show superiority of the proposed method in comparison with PID controller.