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DOI: 10.14569/IJACSA.2020.0110894
PDF

Robust Control and Fuzzy Logic Guidance for an Unmanned Surface Vehicle

Author 1: Marcelo M. Huayna-Aguilar
Author 2: Juan C. Cutipa-Luque
Author 3: Pablo Raul Yanyachi

International Journal of Advanced Computer Science and Applications(IJACSA), Volume 11 Issue 8, 2020.

  • Abstract and Keywords
  • How to Cite this Article
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Abstract: This work deals with guidance and control of an unmanned surface vehicle which has the mission to monitor au-tonomously the water quality condition in Peruvian sea onshore. The vehicle is a catamaran class with two slender bodies propelled by two electric thrusts in differential and common modes in order to maneuver in surge and in yaw directions. A multivariable control approach is proposed in order to control these two variables and a fuzzy logic-based guidance tracks predefined trajectories at the sea surface. The conjunction between robust control and guidance algorithms is validated numerically and the results show good stability and performance despite the presence of disturbance, noise sensors and model uncertainties.

Keywords: Robust control; guidance; fuzzy; unmanned surface vehicle

Marcelo M. Huayna-Aguilar, Juan C. Cutipa-Luque and Pablo Raul Yanyachi, “Robust Control and Fuzzy Logic Guidance for an Unmanned Surface Vehicle” International Journal of Advanced Computer Science and Applications(IJACSA), 11(8), 2020. http://dx.doi.org/10.14569/IJACSA.2020.0110894

@article{Huayna-Aguilar2020,
title = {Robust Control and Fuzzy Logic Guidance for an Unmanned Surface Vehicle},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2020.0110894},
url = {http://dx.doi.org/10.14569/IJACSA.2020.0110894},
year = {2020},
publisher = {The Science and Information Organization},
volume = {11},
number = {8},
author = {Marcelo M. Huayna-Aguilar and Juan C. Cutipa-Luque and Pablo Raul Yanyachi}
}



Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

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