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.

2026

  1. constant_rate.png
    Constant-Rate Convergence for an Adaptive Sliding Mode Controller Using a Fixed-time Disturbance Observer
    Alejandro Gonzalez-Garcia, Armando Miranda-Moya, and Herman Castañeda
    International Journal of Robust and Nonlinear Control, 2026
    DOI
  2. AITSMC.gif
    Adaptive Unmanned Surface Vehicle Control Under Perturbations with a Tunable Settling Time
    Alejandro Gonzalez-Garcia and Herman Castañeda
    2026
    Accepted to IEEE/ASME Transactions on Mechatronics
    Video

2024

  1. Safe Robust Control ASVs.gif
    Robust Model Predictive Control with Control Barrier Functions for Autonomous Surface Vessels
    Wei Wang*, Wei Xiao*, Alejandro Gonzalez-Garcia*, and 3 more authors
    In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
    DOI Video
  2. 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
  3. Adaptive sliding mode control with nonlinear MPC-based obstacle avoidance using LiDAR for an autonomous surface vehicle under disturbances
    Ivana Collado-Gonzalez*, Alejandro Gonzalez-Garcia*, Rodolfo Cuan-Urquizo, and 3 more authors
    Ocean Engineering, 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. UAV_USV.jpg
    Robust Visual Tracking Control Based on Adaptive Sliding Mode Strategy: Quadrotor UAV-Catamaran USV Heterogeneous System
    Alejandro Gonzalez-Garcia, Armando Miranda-Moya, and Herman Castañeda
    In 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021
    DOI
  3. Adaptive Integral Terminal Sliding Mode Control for an Unmanned Surface Vehicle Against External Disturbances
    Alejandro Gonzalez-Garcia and Herman Castañeda
    IFAC-PapersOnLine, 2021
    DOI

2020

  1. USV Path-Following Control Based On Deep Reinforcement Learning and Adaptive Control
    A Gonzalez-Garcia, H Castañeda, and L Garrido
    In Global Oceans 2020: Singapore – U.S. Gulf Coast, 2020
    DOI