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Sensors and Materials, Volume 33, Number 3(1) (2021)
Copyright(C) MYU K.K.
pp. 883-895
S&M2502 Research Paper of Special Issue
https://doi.org/10.18494/SAM.2021.3216
Published: March 5, 2021

Development of Small Autonomous Surface Vehicle Implementing Position Control System Using Sliding Mode Control [PDF]

Yamato Kawamura, Junichiro Tahara, Tetsu Kato, Shun Fujii, Shoichiro Baba, and Masakazu Koike

(Received December 10, 2020; Accepted January 21, 2021)

Keywords: sliding mode control, autonomous surface vehicle, system identification, waypoint control, dynamic positioning system

Currently, autonomous surface vehicles (ASVs) are being actively studied. In particular, there are high expectations for their use in aquaculture and research in coastal areas and by the fishing industry. However, conventional ship-based ASVs require considerable manpower and time during loading and unloading. In addition, it takes time to set up the base station, which makes the use of ASVs difficult. Therefore, we are developing a small ASV based on a surfboard that can be easily operated. We also utilize a sliding mode control method that ignores the effects of model errors and disturbances. A waypoint navigation test and a dynamic position system test were conducted on the developed ASV using this control method and this paper reports the experimental results, along with the results of an experiment combining waypoint navigation dynamic position system control.

Corresponding author: Junichiro Tahara


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Cite this article
Yamato Kawamura, Junichiro Tahara, Tetsu Kato, Shun Fujii, Shoichiro Baba, and Masakazu Koike, Development of Small Autonomous Surface Vehicle Implementing Position Control System Using Sliding Mode Control, Sens. Mater., Vol. 33, No. 3, 2021, p. 883-895.



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