Experimental validation of boundary tracking using the suboptimal sliding mode algorithm

In this paper, the experimental results obtained from the implementation of a novel boundary tracking algorithm based on the ‘suboptimal sliding mode’ concept are presented. In March 2016, the C-Enduro Autonomous Surface Vehicle (ASV) was deployed to validate the algorithm in a dynamic coastal region in Ardmucknish bay, Argyll and Bute, Scotland. The algorithm was tested in a bathymetric context. The capability of the algorithm to autonomously steer the surface vehicle to follow a fixed depth contour in the ocean, in the presence of wind and oceanic currents, is demonstrated by the results from the trial described in this paper.

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