Projeto de concepção de um veículo autônomo de superfície e análise do controle do leme: uma abordagem da engenharia de sistemas

Abstract

The present work proposes a systemic approach to the design of an Autonomous Surface Vehicle (ASV or USV) intended for Mine Countermeasures (MCM), based on the principles of Systems Engineering. The USV for use in MCM was described at a high level using the SysML language. Additionally, the rudder control system was studied, which is one of the most important subsystems in autonomous vessels where maintaining a stable desired heading is crucial. In this study, a sensitivity analysis of the parameters of the PID controller of a well- established model in the literature was conducted. Furthermore, a brief explanation of the control system of an experimental ASV of the Brazilian Navy was included, the information for which was obtained from the Naval Systems Analysis Center.