Linear System Identification and Control of a Low‐Cost High‐Performance Omnidirectional Marine Surface Vehicle for Swarming Applications

ABSTRACT

Marine operations traditionally rely on human intervention, a costly and disruptive method. Autonomous surface vehicles (ASVs) offer a powerful alternative, capable of operating autonomously, for extended periods, and with various sensors for various missions. However, the use of a single ASV face limitations, such as lacking the flexibility and fault tolerance needed for complex tasks, particularly in applications requiring rapid exploration of large areas. Therefore, recent research has highlighted the growing interest in swarms of ASVs for rapid and robust exploration of large ocean workspaces. These offer advantages in terms of data measurement accuracy, precision, and consistency. However, conventional ASVs often face limitations due to their size and turning radius, particularly when operating in confined environments. This paper addresses these challenges by presenting the design, construction, linear physical modeling, identification, and control of a novel small, low‐cost, and modular ASV suitable for swarming applications. This omnidirectional vehicle offers a near‐zero turning radius, enabling efficient maneuvering within confined spaces. Additionally, its modular design facilitates the seamless integration of various sensors, allowing for adaptation to a wide range of missions. Under specific assumptions and through experimental validation, a linear time‐invariant mathematical model can effectively capture the vehicle's dynamics. This is in contrast with the usual practice of deriving physical‐based nonlinear vehicle models, that are overcomplicated, difficult to tune appropriately and unnecessary for the planned operative regimes of the vehicle and for control design purposes. The simple linear model here considered is particularly beneficial for reducing the computational burden associated with developing predictive control strategies.