<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1815-5928</journal-id>
<journal-title><![CDATA[Ingeniería Electrónica, Automática y Comunicaciones]]></journal-title>
<abbrev-journal-title><![CDATA[EAC]]></abbrev-journal-title>
<issn>1815-5928</issn>
<publisher>
<publisher-name><![CDATA[Universidad Tecnológica de La Habana José Antonio Echeverría, Cujae]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1815-59282022000200017</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Algoritmo no lineal de guiado aplicado en vehículos marinos en presencia de perturbaciones medioambientales]]></article-title>
<article-title xml:lang="en"><![CDATA[Nonlinear guidance law algorithm applied to marine vehicles in presence of multiple environmental disturbances]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Hernández-Morales]]></surname>
<given-names><![CDATA[Luis Enrique]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Valeriano-Medina]]></surname>
<given-names><![CDATA[Yunier]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Hernández-Santana]]></surname>
<given-names><![CDATA[Luis]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Facultad de Ingeniería Eléctrica de la UCLV  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Cuba</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>08</month>
<year>2022</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>08</month>
<year>2022</year>
</pub-date>
<volume>43</volume>
<numero>2</numero>
<fpage>17</fpage>
<lpage>31</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S1815-59282022000200017&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S1815-59282022000200017&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S1815-59282022000200017&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN En los últimos años se han presentado un gran número de trabajos que buscan resolver el problema del seguimiento de caminos por parte de los vehículos autónomos de superficie (ASV). En este sentido un algoritmo no lineal de guiado (NLGL), surgido en los últimos años para su uso en vehículos aéreos, se presenta como una interesante opción para el seguimiento de caminos por parte vehículos marinos al no utilizar el ángulo de guiñada para lograr sus objetivos de control. El mayor problema que presentan estos vehículos a la hora del seguimiento de caminos es la influencia de las perturbaciones ambientales sobre ellos, principalmente las corrientes marinas y el viento. Para dar una solución a esta problemática, en este trabajo se presenta un esquema de guiado y control para lograr el seguimiento de caminos rectos por parte de vehículos marinos. El mismo presenta una estructura en cascada con un lazo interno de velocidad angular de guiñada, que presenta un controlador PI como elemento principal, y el algoritmo NLGL en el lazo externo. Logrando así que el vehículo siga un camino recto con error cero sin la necesidad de la medición del ángulo de guiñada y evitando la implementación de una acción integral en lazo externo. Se realiza un análisis de como influyen las corrientes marinas y el viento sobre este sistema a partir de la linealización del esquema presentado, además un análisis de estabilidad del esquema es presentado. Por último, se presentan los resultados de simulación y de experimentos reales de la implementación de este esquema en un ASV de pequeño porte, donde se puede apreciar que el vehículo converge a la trayectoria deseada con precisión en presencia de perturbaciones medioambientales.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT 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.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[ASV]]></kwd>
<kwd lng="es"><![CDATA[Seguimiento de Caminos]]></kwd>
<kwd lng="es"><![CDATA[Algoritmo NLGL]]></kwd>
<kwd lng="es"><![CDATA[Perturbaciones Medioambientales]]></kwd>
<kwd lng="en"><![CDATA[ASV]]></kwd>
<kwd lng="en"><![CDATA[Path Following]]></kwd>
<kwd lng="en"><![CDATA[NLGL Algorithm]]></kwd>
<kwd lng="en"><![CDATA[Environmental Disturbances]]></kwd>
</kwd-group>
</article-meta>
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