Maritime surveillance and monitoring using autonomous vehicles with conditional integrator-based control

Maritime surveillance and monitoring are tasks suitable for autonomous marine vessels. In order to obtain accurate path following of these vessels, environmental disturbances need to be taken into account. For the case of constant disturbances, control strategies such as integral action, sliding mode control and adaptive control can be employed, each with their own benefits and drawbacks. Here we use a relatively new control strategy named conditional integrators, and show their benefits compared to the previously mentioned control methods by simulations.