Simplified Model Characterization and Control of an Unmanned Surface Vehicle
This study presents the modeling and control of the unmanned surface vehicle (USV) SABALO. Two models were built, one based on a transfer function matrix and another based on state variables, and from these models, two control strategies were developed. The first strategy is based on independent Pro...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/4/813 |
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| author | Aldo Lovo-Ayala Roosvel Soto-Diaz Carlos Andres Gutierrez-Martinez Jose Fernando Jimenez-Vargas Javier Jiménez-Cabas Jose Escorcía-Gutierrez |
| author_facet | Aldo Lovo-Ayala Roosvel Soto-Diaz Carlos Andres Gutierrez-Martinez Jose Fernando Jimenez-Vargas Javier Jiménez-Cabas Jose Escorcía-Gutierrez |
| author_sort | Aldo Lovo-Ayala |
| collection | DOAJ |
| description | This study presents the modeling and control of the unmanned surface vehicle (USV) SABALO. Two models were built, one based on a transfer function matrix and another based on state variables, and from these models, two control strategies were developed. The first strategy is based on independent Proportional-Integral/Proportional-Derivative (PI/PD) controllers complemented by a decoupling system, and the second strategy is based on state variable feedback. The two control strategies were evaluated and contrasted. Results demonstrated that the decoupler effectively eliminated variable interaction, enhancing stability in straight trajectories and directional changes. Meanwhile, state feedback control demonstrated markedly faster response times and superior precision, accompanied by higher energy consumption. The study concludes that both strategies are effective, but their suitability depends on the mission. The decoupler could be ideal for energy-efficient, long-duration operations, while state feedback could be appropriate for dynamic environments requiring rapid maneuvers. |
| format | Article |
| id | doaj-art-71f608d5bc5e4f24892d6895377cc97d |
| institution | DOAJ |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-71f608d5bc5e4f24892d6895377cc97d2025-08-20T03:13:50ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-04-0113481310.3390/jmse13040813Simplified Model Characterization and Control of an Unmanned Surface VehicleAldo Lovo-Ayala0Roosvel Soto-Diaz1Carlos Andres Gutierrez-Martinez2Jose Fernando Jimenez-Vargas3Javier Jiménez-Cabas4Jose Escorcía-Gutierrez5Escuela Naval de Cadetes “Almirante Padilla” (ENAP), Cartagena de Indias 130001, ColombiaBiomedical Engineering Program, Universidad Simón Bolívar, Barranquilla 080002, ColombiaEscuela Naval de Cadetes “Almirante Padilla” (ENAP), Cartagena de Indias 130001, ColombiaDepartment of Electrical and Electronic Engineering, Universidad de Los Andes, Bogotá 111711, ColombiaDepartment of Computational Science and Electronics, Universidad de la Costa (CUC), Barranquilla 080002, ColombiaDepartment of Computational Science and Electronics, Universidad de la Costa (CUC), Barranquilla 080002, ColombiaThis study presents the modeling and control of the unmanned surface vehicle (USV) SABALO. Two models were built, one based on a transfer function matrix and another based on state variables, and from these models, two control strategies were developed. The first strategy is based on independent Proportional-Integral/Proportional-Derivative (PI/PD) controllers complemented by a decoupling system, and the second strategy is based on state variable feedback. The two control strategies were evaluated and contrasted. Results demonstrated that the decoupler effectively eliminated variable interaction, enhancing stability in straight trajectories and directional changes. Meanwhile, state feedback control demonstrated markedly faster response times and superior precision, accompanied by higher energy consumption. The study concludes that both strategies are effective, but their suitability depends on the mission. The decoupler could be ideal for energy-efficient, long-duration operations, while state feedback could be appropriate for dynamic environments requiring rapid maneuvers.https://www.mdpi.com/2077-1312/13/4/813unmanned surface vehiclesmodelingmultivariable control by decouplingstate variable feedbackstate observerstate estimator |
| spellingShingle | Aldo Lovo-Ayala Roosvel Soto-Diaz Carlos Andres Gutierrez-Martinez Jose Fernando Jimenez-Vargas Javier Jiménez-Cabas Jose Escorcía-Gutierrez Simplified Model Characterization and Control of an Unmanned Surface Vehicle Journal of Marine Science and Engineering unmanned surface vehicles modeling multivariable control by decoupling state variable feedback state observer state estimator |
| title | Simplified Model Characterization and Control of an Unmanned Surface Vehicle |
| title_full | Simplified Model Characterization and Control of an Unmanned Surface Vehicle |
| title_fullStr | Simplified Model Characterization and Control of an Unmanned Surface Vehicle |
| title_full_unstemmed | Simplified Model Characterization and Control of an Unmanned Surface Vehicle |
| title_short | Simplified Model Characterization and Control of an Unmanned Surface Vehicle |
| title_sort | simplified model characterization and control of an unmanned surface vehicle |
| topic | unmanned surface vehicles modeling multivariable control by decoupling state variable feedback state observer state estimator |
| url | https://www.mdpi.com/2077-1312/13/4/813 |
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