Design Adaptive Controller and Guidance System of an Unmanned Surface Vehicle for Environmental Monitoring Applications

Abstract

The control problem of the vehicle which the automatic tracking of a target or a predefined track has many important applications in many fields such as military reconnaissance, observation of terrain, environmental quality survey therefore have been studied in many countries of the world. This paper presents the results of the USV control method using adaptive controllers to follow square or zig-zag trajectories using the Line of Sight (LOS) algorithm. The position and heading angle of the ship will be feedback to two Guidance-Control blocks for calculation and processing. Guidance using the LOS algorithm with look ahead distance to calculate the desired heading angle. Controller with adaptive sliding mode will calculate the force and torque to control the USV. The efficiency of the algorithm and method will be presented through simulation results using MATLAB/SIMULINK.