Dynamic modelling and control of a portable USV for bathymetric survey

The dynamic modelling and path following control of a stand up paddle board based unmanned surface vessel, of the type appropriate for bathymetric survey applications, are presented. The dynamic model is based on a 3.35 m (11 foot) inflatable paddle board weighing 15.5 kg (including instrumentation and propulsion system). A super-twisting path following control system is designed to mitigate wind-induced disturbances anticipated to affect a vehicle in the field, and which are expected to be exacerbated by the vessel's low draft, light weight and high windage area. The performance of the system is investigated using simulations of the vehicle following a lawn mower shaped path within an 80 m×80 m area. The proposed path following controller is shown to be robust to disturbances that have a magnitude of up to about a third of the total thrust available, and which change rapidly (wind gusts).