LPV/$${\mathcal {H}}_\infty $$ Control of a Twin Hull-Based Unmanned Surface Vehicle

Rodriguez-Canales, Eduardo S.; Cutipa-Luque, Juan C.

doi:10.1007/s40313-020-00669-7

Cited by 6 publications

(16 citation statements)

References 11 publications

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“…The laboratory for complex control process and unmanned vehicles at the 'Universidad Nacional de San Agustín de Arequipa' is leading research projects related to the development of enhanced systems for ocean and nature supervision [20], [21]. This paper describes a modular system to be employed in measuring water quality with high accuracy, both in unmanned and manned vehicles.…”

Section: Methodsmentioning

confidence: 99%

An Open-source Wireless Platform for Real-time Water Quality Monitoring with Precise Global Positioning

Salas-Cueva¹,

Mendoza²,

Cutipa-Luque³

et al. 2021

IJACSA

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Sustainable development associated with the agricultural field of Arequipa, a region in economic growth, is vulnerable to contamination of water resources, putting production systems and food security at risk. Therefore, it is necessary to implement an automated system to control, management, and monitor this vital resource. The proposed work proposed a system to measure water quality monitoring in reservoirs and lakes with high accurate related to global positioning. It includes an embedded computer, multiparameter sonde, and an additional dual GNSS/INS in hardware architecture. The software architecture is fully open-source with compatibility, modularity, and interoperability features between Python and MySQL, allowing data management for real-time data in visual interface on a platform that stores unlimited data logging, monitors and analyzes. The proposed system is validated in an experimental test that measures the water quality of a huge agricultural reservoir, where certified instrumentation is mandatory, as compared to other methods used locally for this action.

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Section: Methodsmentioning

confidence: 99%

An Open-source Wireless Platform for Real-time Water Quality Monitoring with Precise Global Positioning

Salas-Cueva¹,

Mendoza²,

Cutipa-Luque³

et al. 2021

IJACSA

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“…where m is the USV mass, x g the position of center of mass and I z the moment of inertia around the z axis, X u, Y v, Y ṙ, N v and N ṙ are the hydrodynamic terms related to added masses. The terms X u , Y and N r represent the linear drag coefficients, while X |u|u , Y |v|v and N |r|r are the quadratic drag coefficients [12].…”

Section: Nonlinear Model Of the Edson-jmentioning

confidence: 99%

“…The parameters of the USV nonlinear model are reported in Table 2. More details about the hydrodynamic coefficients can be found in [12].…”

Section: Hydrodynamic Coefficientsmentioning

confidence: 99%

“…In [6], the authors presented an LPV controller with adaptive parameter estimation and adaptation capabilities. More recently, in [12] an LPV robust control system for a twin hull-based unmanned surface vehicle, named EDSON-J, was developed to account for mass variation considering a set of controllers generated by using the so-called grid-based approach.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we aim to extend the design of LPV controllers for EDSON-J model by considering a decoupled control approach. In particular, due to the inherent complexity in embedding the LPV controller proposed [12] on a low-cost platform, the major contribution of this paper consists of designing two independent controllers for both lateral motion and longitudinal motion guaranteeing performance and robustness. This leads to controllers that can be easily implemented in low-cost embedded systems, thereby making our results more appealing in practice.…”

Section: Introductionmentioning

confidence: 99%

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

Chnib

Sename

Ferrante

et al. 2022

Lecture Notes in Mechanical Engineering

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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 non-linearities 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.

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Robust control design on Scilab: Hybrid remotely operated vehicle

Roque‐Quispe,

Alvarez‐Quispe,

Yanyachi

et al. 2023

Comp Applic In Engineering

Self Cite

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The goal of this work is to demonstrate the advanced features of Scilab/Xcos software in the process of designing robust controllers and to validate them numerically by a multivariable system with high coupled dynamics; it is a hybrid remotely operated vehicle (HROV). The methodology presents five steps which are the nonlinear model representation, the model linearization, the building of augmented plants, the synthesis of robust controllers through the optimization algorithms, and the plotting of the results. Linear models can be obtained straightforwardly at many operation points. The robust controllers are synthesized using the mixed sensitivity approach and tested in Scilab script and in the Xcos block diagram interface. The surge and yaw rate vehicle dynamics are controlled by a centralized controller; obtaining a good settling time, of less than 14 s, without overshooting and mitigating the coupling dynamics. Moreover, the good shaping in sensitivity and complementary sensitivity indicates robustness in performance and stability for the HROV. The proposed methodology includes time and frequency domain analysis, among other advanced features, to overcome the need for commercial software.

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LPV/$${\mathcal {H}}_\infty $$ Control of a Twin Hull-Based Unmanned Surface Vehicle

Cited by 6 publications

References 11 publications

An Open-source Wireless Platform for Real-time Water Quality Monitoring with Precise Global Positioning

An Open-source Wireless Platform for Real-time Water Quality Monitoring with Precise Global Positioning

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

Robust control design on Scilab: Hybrid remotely operated vehicle

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