{"paper":{"title":"Supervisory Switching Control of an Unmanned Surface Vehicle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Ivan R. Bertaska, Karl D. von Ellenrieder","submitted_at":"2017-02-16T12:12:22Z","abstract_excerpt":"A novel method to determine the switching of controllers to increase the performance of a system is presented. Three controllers are utilized to capture three behaviors representative of unmanned surface vehicles (USVs). An underactuated nonlinear controller is derived to transit the vehicle between locations; a fully-actuated nonlinear controller is given to station-keep the vehicle at a setpoint; and a linear anti-windup controller is presented for the reversing mode of operation. Given a trajectory to follow, a performance-based supervisory switching control system (PBSSC) dictates the swit"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.04940","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}