A Novel Approach to Guidance and Control of USVs Combining Flatness-Based and Model-Free Controllers
Résumé
This work presents a new approach to the guidance and control of marine craft by combining Flatness-Based and Model-Free controllers. Its goal is to develop a general regulator for Unmanned Surface Vehicles (USV). To do so, the well-known USV maneuvering model is simplified and proven to be flat. A flatness-based controller is derived for the simplified USV model and the loop is closed via an intelligent proportional derivative (iPD) regulator derived from model-free control. We thus associate the well-documented natural robustness of flatness-based control and adaptivity of iPDs. The controller is applied in simulation to two surface vessels, one meeting the simplifying hypotheses, the other one being a generic USV of the literature, and is shown to stabilize both systems even in the presence of unmodeled environmental disturbances.
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