Reduce energy loss with dynamic positioning controller for USV based on Hierarchical Sliding Mode Control

This paper presents a positional stabilization controller for the under-actuators USV model based on a Hierarchical Sliding Mode Control System (HSMC) that takes into account environmental influences when operating as the flow, waves and wind. The controller presents successful simulation results demonstrating stability in the presence of noise. It helps to reduce energy loss in human activities at the sea.