A Survey on Tactical Control Algorithms for Path Tracking Unmanned Surface Vehicles

KUMRU M., Leblebicioglu K., Erunsal I. K., Ahiska K.

14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Tayland, 13 - 15 Kasım 2016 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Phuket
  • Basıldığı Ülke: Tayland
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater vehicle (UUV). USV with the help of its onboard acoustic sensors, tracks UUV according to constant bearing guidance rule. The survey on tactical controllers comprises comparisons of tracking performances of USVs under proportional-integral-derivative, pole placement, feedback linearization and sliding mode controllers according to the strategic goal. The parameters of the controllers are tuned with a common elitist genetic algorithm optimization infrastructure. The disturbance rejection capabilities of the controllers are discussed through Monte Carlo simulations of USVs within various wave disturbances as well.