Simulink/MATLAB based Comparison of Neural and Basic Tracking Control for an Autonomous Surface Vessel for Situation Awareness Applications

The intelligent control of autonomous vehicles has become one of the high priority tasks in development of Cyber-Physical Systems (CPS) for Industry 4.0 and Situation Awareness (SA) applications. Moving of an Autonomous Surface Vessel (ASV) to the desired area of sea is a challenging task to achieve high level of autonomy under adverse conditions. Paper focuses on the development of methodology of model-based modeling and simulation of cyber-physical nonlinear system of ASV in Simulink/MATLAB software environment. The comparison between predictive neural control and basic tracking feedback control has been presented for two maneuvers: the turn at different angles and the circular motion at final destination. Simulation results confirm the necessity and superiority of neural controller approach.