Resumo

HERNANDEZ-MORALES, Luis Enrique; VALERIANO-MEDINA, Yunier  e  HERNANDEZ-SANTANA, Luis. Nonlinear guidance law algorithm applied to marine vehicles in presence of multiple environmental disturbances. EAC [online]. 2022, vol.43, n.2, pp. 17-31.  Epub 17-Out-2022. ISSN 1815-5928.

In recent years, a large number of works have been presented that seek to solve the problem of road following by autonomous surface vehicles (ASV). In this sense, a non-linear guidance algorithm (NLGL), which has emerged in recent years for use in aerial vehicles, is presented as an interesting option for path tracking by marine vehicles as it does not use the yaw angle to achieve its objectives. control objectives. The biggest problem that these vehicles present when following paths is the influence of environmental disturbances on them, mainly sea currents and wind. To provide a solution to this problem, this paper presents a guidance and control scheme to achieve the following of straight paths by marine vehicles. It presents a cascade structure with an internal yaw velocity loop, which presents a PI controller as the main element, and the NLGL algorithm in the external loop. Thus achieving that the vehicle follows a straight path with zero error without the need to measure the yaw angle and avoiding the implementation of an integral action in the external loop. An analysis is made of how the marine currents and the wind influence this system from the linearization of the presented scheme, in addition to a stability analysis of the scheme is presented. Finally, the results of simulation and real experiments of the implementation of this scheme in a small ASV are presented, where it can be seen that the vehicle converges to the desired trajectory with precision in the presence of environmental disturbances.

Palavras-chave : ASV; Path Following; NLGL Algorithm; Environmental Disturbances.

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