Robust control of unmanned sea surface vehicle using inertial delay control

Abstract

This article addresses the problem of speed and steering control of unmanned sea surface vehicles operating under unknown ocean environments affected by complex nonlinearities and uncertain hydrodynamic coefficients. An inertial delay control (IDC)-based sliding mode control (SMC) is proposed. The proposed controller is robust against the system’s nonlinearities, parametric uncertainties, external disturbances like a strong wind, complex disturbances due to wind-generated and ocean currents, etc. The proposed controller uses IDC to estimate these effects mentioned above, which makes the proposed SMC independent of the bound of uncertainties and disturbances, and provides chatter-free control. The effectiveness of the proposed controller is confirmed by considering the highly nonlinear model of Cypership-II using various performance indices.