Abstract

For the improvement of the performance of track keeping of unmanned water vehicle numerous ship models, wave disturbances models and distinct control algorithms has been proposed. Researchers are using variants of PID controllers, Adaptive controllers and Predictive controllers for accurate trajectory control. Being simpler in nature still PID controller are popular in control domain. In this paper we have implemented PD based controller for trajectory control of unmanned vehicle considering all standard models of sea disturbances. Analysis of result obtained using PD control proved that path tracking is more accurate than open loop controller in terms of computation time, complexity and fuel consumption.

Authors and Affiliations