Guidance and Control of Unmanned Surface Vehicles via HEOL
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866908344322621440 |
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| author | Degorre, Loïck Delaleau, Emmanuel Join, Cédric Fliess, Michel |
| author_facet | Degorre, Loïck Delaleau, Emmanuel Join, Cédric Fliess, Michel |
| contents | This work presents a new approach to the guidance and control of marine craft via HEOL, i.e., a new way of combining flatness-based and model-free controllers. Its goal is to develop a general regulator for Unmanned Surface Vehicles (USV). To do so, the well-known USV maneuvering model is simplified into a nominal Hovercraft model which is flat. A flatness-based controller is derived for the simplified USV model and the loop is closed via an intelligent proportional-derivative (iPD) regulator. We thus associate the well-documented natural robustness of flatness-based control and adaptivity of iPDs. The controller is applied in simulation to two surface vessels, one meeting the simplifying hypotheses, the other one being a generic USV of the literature. It is shown to stabilize both systems even in the presence of unmodeled environmental disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_00168 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Guidance and Control of Unmanned Surface Vehicles via HEOL Degorre, Loïck Delaleau, Emmanuel Join, Cédric Fliess, Michel Systems and Control Robotics Optimization and Control This work presents a new approach to the guidance and control of marine craft via HEOL, i.e., a new way of combining flatness-based and model-free controllers. Its goal is to develop a general regulator for Unmanned Surface Vehicles (USV). To do so, the well-known USV maneuvering model is simplified into a nominal Hovercraft model which is flat. A flatness-based controller is derived for the simplified USV model and the loop is closed via an intelligent proportional-derivative (iPD) regulator. We thus associate the well-documented natural robustness of flatness-based control and adaptivity of iPDs. The controller is applied in simulation to two surface vessels, one meeting the simplifying hypotheses, the other one being a generic USV of the literature. It is shown to stabilize both systems even in the presence of unmodeled environmental disturbances. |
| title | Guidance and Control of Unmanned Surface Vehicles via HEOL |
| topic | Systems and Control Robotics Optimization and Control |
| url | https://arxiv.org/abs/2505.00168 |