Control of Unmanned Sea Surface Vehicle Using Sliding Mode Controller with Time Delay Control

This paper discusses regarding steering and speed control of the Unmanned Sea Surface Vehicle (USSV) using Time delay controller with sliding mode. A Matlab simulation is carried out for the mathematical model of USSV using SMCTDC and results are discussed. It shows that SMC-TDC control can overcome shortcomings in the PID and PD Control which are linear control strategy. Time delay Control is used as an observer, which can take care of uncertainty in the model parameters. USSV autonomous operation can be achieved using SMC-TDC strategy. This strategy can give very good results in the ocean environment and this strategy will take care of all kinds the disturbances acting on the vehicle in the ocean environment. Simulation results are discussed along with the conclusions for each control strategy. This control strategy will be very useful for the USSV developed for defense applications as this control system will take care of the vehicle in the absence of defense personnel.