NDLI: Neural dynamics and sliding mode integration for the guidance of unmanned surface vehicles

Content Provider	IEEE Xplore Digital Library
Author	Di Lecce, N. Laschi, C. Bibuli, M. Bruzzone, G. Zereik, E.
Copyright Year	2015
Description	Author affiliation: Inst. of Studies on Intell. Syst. for Autom., Genoa, Italy (Bibuli, M.; Bruzzone, G.; Zereik, E.) \|\| BioRobotics Inst., Scuola Superiore Sant'Anna, Pontedera, Italy (Di Lecce, N.; Laschi, C.)
Abstract	The purpose of this work is the development of a hybrid guidance and control system for the trajectory tracking task of an underactuated Unmanned Surface Vehicle (USV). The novelty of the guidance system is based on neural dynamics and sliding mode integration. The biological neural dynamics model is designed to smooth the outputs of the sliding mode control, avoid sharp speed jumps and satisfy the thruster control constraint. The outputs of the sliding mode controller are used such as the reference inputs of an internal backstepping control loop for low level dynamics regulation. The hybrid control is focused towards real robot exploitation in such a way to damp sudden changes of the torque commands and consequently, mechanical stress onto the thrust motors. The performance of the proposed control strategy and the comparison between sliding mode guidance, and sliding mode control embeds the neural dynamics model are described by a number of simulative tests. Moreover, measurement noises and a model of the sea currents variation, in direction and velocity, are counted in the simulated trials in order to demonstrate the control robustness with respect to measurement and environmental disturbances that unavoidably affect maritime operations.
Starting Page	1
Ending Page	6
File Size	227111
Page Count	6
File Format	PDF
e-ISBN	9781479987368
DOI	10.1109/OCEANS-Genova.2015.7271572
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-18
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Mathematical model Vehicles Biological system modeling Backstepping Trajectory Noise measurement
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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