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System identification methodology for a wave adaptive modular unmanned surface vehicle

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Date Issued:
2011
Summary:
The design, implementation, and testing of an experimental setup intended to evaluate the dynamic maneuvering performance of the Wave Adaptive Modular Vessel (WAM-V) class USV12, a 3.7 meter unmanned surface vehicle (USV) is described. A comprehensive sensor package was designed, fabricated and assembled to record the vehicle's dynamic response to various control inputs. All subsystems were fabricated and installed on a test vehicle, GUSS, and full system, open-loop maneuvering tests were conducted to show validity of data collection technique. Simulations were performed using model parameters found in the literature to create a "simulated experimental" data set, upon which system identification techniques were used to rediscover a suitable model with similar parameterization. Combined, the sensor package and the method for creating this model support future work in the design of automatic control, navigation, and guidance systems for the WAM-V USV12.
Title: System identification methodology for a wave adaptive modular unmanned surface vehicle.
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Name(s): Mask, Janine L.
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Date Issued: 2011
Publisher: Florida Atlantic University
Physical Form: electronic
Extent: xiii, 151 p. : ill. (some col.)
Language(s): English
Summary: The design, implementation, and testing of an experimental setup intended to evaluate the dynamic maneuvering performance of the Wave Adaptive Modular Vessel (WAM-V) class USV12, a 3.7 meter unmanned surface vehicle (USV) is described. A comprehensive sensor package was designed, fabricated and assembled to record the vehicle's dynamic response to various control inputs. All subsystems were fabricated and installed on a test vehicle, GUSS, and full system, open-loop maneuvering tests were conducted to show validity of data collection technique. Simulations were performed using model parameters found in the literature to create a "simulated experimental" data set, upon which system identification techniques were used to rediscover a suitable model with similar parameterization. Combined, the sensor package and the method for creating this model support future work in the design of automatic control, navigation, and guidance systems for the WAM-V USV12.
Identifier: 774892016 (oclc), 3332720 (digitool), FADT3332720 (IID), fau:3788 (fedora)
Note(s): by Janine L. Mask.
Thesis (M.S.C.S.)--Florida Atlantic University, 2011.
Includes bibliography.
Electronic reproduction. Boca Raton, Fla., 2011. Mode of access: World Wide Web.
Subject(s): Oceanographic instruments -- Evaluation
Wave motion, Theory of
Inertial navigation systems
Adaptive signal processing
Persistent Link to This Record: http://purl.flvc.org/FAU/3332720
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU