Optimal specification of sliding mode control parameters for unmanned surface vessel systems

  • Authors:

  • Lucas C. McNinch;Hashem Ashrafiuon;Kenneth R. Muske

  • Affiliations:

  • Center for Nonlinear Dynamics and Control, Villanova University, Villanova, PA;Center for Nonlinear Dynamics and Control, Villanova University, Villanova, PA;Center for Nonlinear Dynamics and Control, Villanova University, Villanova, PA

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

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Abstract

This paper introduces a method based on non-linear predictive control to design optimal surfaces for sliding mode tracking control of underactuated unmanned surface vessel systems. The time-invariant parameters of the sliding mode control first- and second-order surfaces are selected to achieve an optimal performance objective, such as minimum tracking error or minimum energy. The method is demonstrated using simulations based on an experimental USV system.