Controller design for unmanned surface vessels through pure prolongations

• Franch, Jaume ^[1] ; Lévine, Jean ^[2] ; Roca, Jaume ^[1]
  1. [1] Universitat Politècnica de Catalunya

     Universitat Politècnica de Catalunya

     Barcelona, España

     
  2. [2] Centre Automatique et Systèmes (CAS), MINES Paris - PSL, Paris, 75006, France.
• Localización: Jornadas de Automática, ISSN-e 3045-4093, Nº. 47, 2026
• Idioma: inglés
• DOI: 10.17979/ja-cea.2026.47.13816
• Títulos paralelos:
  • Diseño de controladores para vehículos marítimos de superficie autónomos mediante prolongaciones puras
• Enlaces
  • Texto completo
• Resumen
  • español

    Este artículo estudia la planitud diferencial del modelo de seis grados de libertad (6-DOF) de un Barco de Superficie No Tripulado (USV, por sus siglas en inglés), para el cual no se había establecido previamente un resultado definitivo debido a los complejos acoplamientos hidrodinámicos. Demostramos que el modelo general del USV es diferencialmente plano mediante su descomposición en un subsistema de cuatro grados de libertad, denominado sistema núcleo (“core system”), que es plano por pura prolongación, junto con una extensión dinámica endógena. Este resultado se obtiene a partir de una aplicación sistemática de un algoritmo desarrollado recientemente e implementado por los autores en Matlab. El modelo completo hereda las salidas planas del sistema núcleo independientemente de los valores específicos de los parámetros hidrodinámicos.

  • English

    This paper studies the differential flatness of the six-degree-of-freedom (6-DOF) model of an Unmanned Surface Vessel (USV), for which no definitive result has previously been established due to complex hydrodynamic couplings. We prove thatthe general USV model is differentially flat by decomposing it into a four-degree-of-freedom subsystem, referred to as the core system, which is flat by pure prolongation, together with an endogenous dynamic extension. This result follows from a systematic application of a recently developed algorithm implemented by the authors in Matlab.The full model inherits the flat outputs of the core system independently of the specific values of the hydrodynamic parameters.

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