Azala

Simplified Model Characterization and Control of an Unmanned Surface Vehicle

Gorde:
Argitaratua izan da:Journal of Marine Science and Engineering vol. 13, no. 4 (2025), p. 813
Egile nagusia: Lovo-Ayala Aldo
Beste egile batzuk: Soto-Diaz Roosvel, Gutierrez-Martinez, Carlos Andres, Jimenez-Vargas, Jose Fernando, Jiménez-Cabas, Javier, Escorcía-Gutierrez, Jose
Argitaratua:
MDPI AG
Gaiak:
Accuracy
Robust control
Deep learning
Adaptability
Parameter identification
Decoupling
Surface vehicles
Energy efficiency
Feedback
Unmanned vehicles
Control systems
Systems stability
State feedback
Proportional derivative
Energy consumption
Transfer functions
Efficiency
Vehicles
Machine learning
Artificial intelligence
Proportional integral
Neural networks
State variable
Methods
Surveillance
Feedback control
Parameter estimation
Environmental
Sarrera elektronikoa:Citation/Abstract
Full Text + Graphics
Full Text - PDF
Etiketak: Etiketa erantsi
Etiketarik gabe, Izan zaitez lehena erregistro honi etiketa jartzen!
Laburpena:This study presents the modeling and control of the unmanned surface vehicle (USV) SABALO. Two models were built, one based on a transfer function matrix and another based on state variables, and from these models, two control strategies were developed. The first strategy is based on independent Proportional-Integral/Proportional-Derivative (PI/PD) controllers complemented by a decoupling system, and the second strategy is based on state variable feedback. The two control strategies were evaluated and contrasted. Results demonstrated that the decoupler effectively eliminated variable interaction, enhancing stability in straight trajectories and directional changes. Meanwhile, state feedback control demonstrated markedly faster response times and superior precision, accompanied by higher energy consumption. The study concludes that both strategies are effective, but their suitability depends on the mission. The decoupler could be ideal for energy-efficient, long-duration operations, while state feedback could be appropriate for dynamic environments requiring rapid maneuvers.
ISSN:2077-1312
DOI:10.3390/jmse13040813
Baliabidea:Engineering Database