Robust Control for the Dynamics of an Unmanned Surface Vehicle Under the Perturbations (Marine Waves and Currents)

Abstract

In this paper we present the study of the dynamics of a USV (Unmanned Surface Vehicle) under the presence of two simulated environmental perturbations: marine induced waves and currents. The mathematical model of the vehicle is studied and the equations that describes the behavior of environmental perturbations are also described. A numerical simulation of the model considering the effects of this perturbations is carried out in three degrees of freedom and also a strategy of robust control based Sliding Mode Control (SMC) is developed for counteracting the effects of the perturbations over the trajectory of the USV.