Design of sliding mode control for maneuver autonomous surface vehicle using genetic algorithm

An autonomous Surface Vehicle (ASV) is an unmanned vehicle that can be controlled by remote control (manual) or automatic (autopilot). In carrying out its mission, the ASV must be able to maintain its position and stay on track. One of the important capabilities of a ship is maneuvering. This paper modeled the ASV maneuver using the Nomoto model and designed a closed-loop control system with Sliding Mode Control, where the parameters are optimized by genetic algorithms. Based on the results obtained, the genetic algorithm is proven to be able to properly optimize the Sliding mode control parameters. The results of the response time for the maneuver with the Nomoto model were able to be stable and reach the desired set point, with a settling time of 5.5?s, 3.7?s Rise time, 0% Overshoot, and 0% steady-state error.