Design of Sliding Mode Control for Linearized Touristant ASV Model

An Autonomous Surface Vehicle (ASV) is an unmanned vessel that can automatically navigate itself in water and can be controlled from land. It is necessary to control the speed of ASV by designing a controller. In this paper, the study used an ASV Touristant prototype with a length of 4.12 meters, a height of 1.027 meters and a diameter of 1.625 meters. The motion is described by a 3-DOF (surge, sway and yaw) linear model resulting from the linearization of the 3-DOF nonlinear model. The objective of this paper is to compare the performance of the Sliding Mode Control (SMC) over the linearized ASV model in the presence of disturbance and in the disturbance-free case. In the disturbance-free case, the steady state error is approximately 0.2% with a settling time of about 8 seconds. The overshoot from the response of all motions is 0%. In the presence of disturbance, the steady state error is about 0.22% with a settling time of about 9 seconds. The overshoot of the response of all motions is 0%.