Nonlinear guidance law algorithm applied to a small unmanned surface vehicle

摘要

The unmanned surface vehicles have been used most frequently in recent years in different applications, like environmental research. For this vehicles to accomplish their autonomous missions, a path-following algorithm is necessary to reduce the cross-track error in the presence of environmental disturbance. This article presents a control scheme based on the path-following nonlinear guidance law for a small unmanned surface vehicle called Krick Felix which follows a straight path. A dynamic model of 3 degrees of freedom for this vehicle is presented. The control scheme consists of a cascade control loop that is capable of guaranteeing zero cross-track error in the presence of environmental disturbance without adding an integral action. A nonlinear Lyapunov stability analysis is carried out for this control scheme taking in consideration the dynamics of both the inner loop and the external loop. The simulation was realized by implementing the 3-degree-of-freedom nonlinear model of the Krick Felix. The simulation also took account of the environmental factors, that is, marine currents. An experimental test is carried out with the Krick Felix where the control scheme present satisfactory results.