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Development and implementation of an adaptive controller for station keeping of small outboard-powered vessels

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Date Issued:
2010
Summary:
In this thesis multiple controllers are developed which command a small boat with twin tied outboard motors to hold a desired position. In the process of developing a controller to hold a position, controllers were first developed which follow a desired heading or path over ground with the motors outputting constant thrust. These heading and path following controllers were tuned and tested in a numerical simulation, then validated on the R/V Lee and Ocean Power vessels through sea trials in the Atlantic Ocean. After successful path following trials were performed, station keeping algorithms were developed and tuned in the numerical simulation, now with heading and thrust of the vessel both being variables to be controlled. After tuning in the numerical simulation, the Ocean power vessel was outfitted with systems for controlling throttle and steering with sea trials conducted in the Atlantic Ocean for station keeping.
Title: Development and implementation of an adaptive controller for station keeping of small outboard-powered vessels.
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Name(s): Fisher, Aaron D.
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Date Issued: 2010
Publisher: Florida Atlantic University
Physical Form: electronic
Extent: xxii, 152 p. : ill. (some col.)
Language(s): English
Summary: In this thesis multiple controllers are developed which command a small boat with twin tied outboard motors to hold a desired position. In the process of developing a controller to hold a position, controllers were first developed which follow a desired heading or path over ground with the motors outputting constant thrust. These heading and path following controllers were tuned and tested in a numerical simulation, then validated on the R/V Lee and Ocean Power vessels through sea trials in the Atlantic Ocean. After successful path following trials were performed, station keeping algorithms were developed and tuned in the numerical simulation, now with heading and thrust of the vessel both being variables to be controlled. After tuning in the numerical simulation, the Ocean power vessel was outfitted with systems for controlling throttle and steering with sea trials conducted in the Atlantic Ocean for station keeping.
Identifier: 701511398 (oclc), 2975247 (digitool), FADT2975247 (IID), fau:3575 (fedora)
Note(s): by Aaron D. Fisher.
Thesis (M.S.C.S.)--Florida Atlantic University, 2010.
Includes bibliography.
Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.
Subject(s): Ship handling
Stability of ships
Fracture mechanics
Boats and boating -- Design
PID controllers -- Computer simulation
Persistent Link to This Record: http://purl.flvc.org/FAU/2975247
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU