A Unified Control System with Autonomous Collision-Free and Trajectory-Tracking Abilities for Unmanned Surface Vessels Under Effects of Modeling Certainties and Ocean Environmental Disturbances

Chun-Yen Lee, Cheng-Yen Sun, I-Ching Hung and Yung-Yue Chen ()
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Chun-Yen Lee: CR Classification Society, 8F.-1, No.58, Dongning Rd., East Dist., Tainan City 701020, Taiwan
Cheng-Yen Sun: Department of Systems and Naval Mechatronics Engineering, National Cheng Kung University, Tainan City 701401, Taiwan
I-Ching Hung: Department of Systems and Naval Mechatronics Engineering, National Cheng Kung University, Tainan City 701401, Taiwan
Yung-Yue Chen: Department of Systems and Naval Mechatronics Engineering, National Cheng Kung University, Tainan City 701401, Taiwan

Mathematics, 2025, vol. 13, issue 4, 1-27

Abstract: A unified control system that possesses the abilities to arrange collision-free trajectories, precise trajectory tracking, and control allocation for unmanned surface vessels is investigated in this paper by integrating methods, including an image-based trajectory generator, a nonlinear robust controller, and a control allocation maker. For the purpose of rapidly generating an optimal collision-free trajectory, a rapid image-searching method, named double-sided Finite Angle A* (FAA*), is developed to cooperate with a continuous trajectory generator. This proposed control system provides an effective means for letting controlled unmanned surface vessels be able to execute given tasks by following collision-free trajectories under the influences of modeling uncertainties and ocean environmental disturbances. To eliminate the effects of modeling uncertainties and ocean environmental disturbances, a robust compensator is developed to co-work with a nonlinear control law. Furthermore, the required robust control commands are perfectly performed by a pair of rotatable actuators with an analytical control allocation design. Finally, two demonstrations are examined to validate the control performance of this proposed unified control system.

Keywords: unmanned surface vessel; unified control system; rapid trajectory generator; robust control design; control allocation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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