Designing station keeping controller for underactuated unmanned Surface Vehicle
Keywords:
Dynamic positioning control, Adaptive hierarchical sliding mode control, USVAbstract
This paper proposed Dynamic Stability Controller for the USV (Unmanned Surface Vehicle) with a model lacking an actuator. The controller was designed based on the Hierarchical Sliding mode method, the artificial neural network is used for approximation when we consider the problem that the model of the system is changed as well as the uncertainties disturbance affecting during operation. The stability of the controller is proven based on the method of Lyapunov function and the simulation of the system on Matlab software gives good and stable control results when there are environmental disturbances affecting the USV.
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