Robust Control of ASVs

Adaptive sliding mode control for autonomous surface vessels under environmental disturbances.

Autonomous Surface Vehicles (ASVs) operate in complex environments subject to external disturbances from wind, waves, and currents. Furthermore, mathematical model discrepancies to the real system, such as unmodeled dynamics or parameter inaccuracies, induce uncertainty. Thus, robust control techniques are required to overcome disturbances and uncertainty, increasing safety, efficiency, and accuracy.

2024

  1. Unmanned surface vehicle robust tracking control using an adaptive super-twisting controller
    Alejandro Gonzalez-Garcia, Herman Castañeda, and Jesús De León-Morales
    Control Engineering Practice, 2024
    DOI

2023

  1. Novel adaptive law for super-twisting controller: USV tracking control under disturbances
    Enrique Alvaro-Mendoza, Alejandro Gonzalez-Garcia, Herman Castañeda, and 1 more author
    Isa Transactions, 2023
    DOI

2022

  1. usv.png
    Adaptive integral terminal super-twisting with finite-time convergence for an unmanned surface vehicle under disturbances
    Alejandro Gonzalez-Garcia and Herman Castañeda
    International Journal of Robust and Nonlinear Control, 2022
    DOI Video
  2. sigma_circle.png
    Finite-time control for an Unmanned Surface Vehicle based on adaptive sliding mode strategy
    Jonathan Rodriguez, Herman Castañeda, Alejandro Gonzalez-Garcia, and 1 more author
    Ocean Engineering, 2022
    DOI Video

2021

  1. joe2021.gif
    Guidance and Control Based on Adaptive Sliding Mode Strategy for a USV Subject to Uncertainties
    Alejandro Gonzalez-Garcia and Herman Castañeda
    IEEE Journal of Oceanic Engineering, 2021
    DOI Video
  2. Adaptive Integral Terminal Sliding Mode Control for an Unmanned Surface Vehicle Against External Disturbances
    Alejandro Gonzalez-Garcia and Herman Castañeda
    IFAC-PapersOnLine, 2021
    DOI