ABSTRACT
This paper develops a perspective on a randomized algorithm-based probabilistic control for unmanned surface vehicles (USVs). The aim of the control design method is to randomize the parametric uncertainty presented in the USVs, and control them efficiently even in the presence of uncertainty. This randomization-based control is achieved by implementing the operation of the USV on a two degrees of freedom (DoF) ball balancer system. This approach does the random search and uncertainty randomization for analysis of probabilistic robustness. Various structured parameters of the system that are expected to affect the uncertainty have been considered for the design of a robust controller. Further, the robustness of the proposed approach is verified by performing a comparative assessment with the action of different conventional controllers on the ball balancer model.
