A real-time control for path following of an USV

Control design for marine autonomous vehicles is a subject of great interest in the control systems. These vehicles are strongly non linear and show complex hydrodynamics effects that make difficult the control design. Besides, the use of underactuated vehicles is very important for different reasons like simplicity, cost, efficiency, etc, so these vehicles and their use for collaborative tasks are main topics of investigation. A non linear control for path following for USVs is presented in this work with an infrastructure capable of performing multiple AUV and ROV in collaborative tasks. So this control law and this infrastructure will be used in future projects for formation control of USVs.