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DEVELOPMENT OF A SLIDING MODE CONTROLLER AND CONTROL ALLOCATION OPTIMIZED FOR ELECTRO-MAGNETIC ACTUATOR LIMITATIONS

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Date Issued:
2022
Abstract/Description:
This thesis presents the development a sliding mode controller and vehicle allocation to control a surface vessel platform within a high degree of accuracy. This is part of ongoing development on the WAMV platform at Florida Atlantic University to improve autonomy in marine systems. By developing models for the untested thrusters currently used, the efficacy of a Sliding Mode Controller is evaluated, and a new control allocation developed based on the gradient descent optimization method is developed to manage the thrusters’ constrained angles of thrust generation. The official simulation for the WAMV platform was then modified to include these aspects and the system was tested under wind conditions and was successful in achieving control to waypoints. The gradient descent optimization used for the control allocation did manage to increase the accuracy of both heading and position of the system at convergence. The sliding mode controller navigated to the desired waypoint however maintained oscillations of cross track that were less then 2m and heading error less 20 degrees.
Title: DEVELOPMENT OF A SLIDING MODE CONTROLLER AND CONTROL ALLOCATION OPTIMIZED FOR ELECTRO-MAGNETIC ACTUATOR LIMITATIONS.
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Name(s): Resio, Daniel , author
Dhanak, Manhar , Thesis advisor
Florida Atlantic University, Degree grantor
Department of Ocean and Mechanical Engineering
College of Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Date Created: 2022
Date Issued: 2022
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 77 p.
Language(s): English
Abstract/Description: This thesis presents the development a sliding mode controller and vehicle allocation to control a surface vessel platform within a high degree of accuracy. This is part of ongoing development on the WAMV platform at Florida Atlantic University to improve autonomy in marine systems. By developing models for the untested thrusters currently used, the efficacy of a Sliding Mode Controller is evaluated, and a new control allocation developed based on the gradient descent optimization method is developed to manage the thrusters’ constrained angles of thrust generation. The official simulation for the WAMV platform was then modified to include these aspects and the system was tested under wind conditions and was successful in achieving control to waypoints. The gradient descent optimization used for the control allocation did manage to increase the accuracy of both heading and position of the system at convergence. The sliding mode controller navigated to the desired waypoint however maintained oscillations of cross track that were less then 2m and heading error less 20 degrees.
Identifier: FA00014037 (IID)
Degree granted: Thesis (MS)--Florida Atlantic University, 2022.
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): Includes bibliography.
Subject(s): Unmanned surface vehicles
Actuators
Sliding mode control
Persistent Link to This Record: http://purl.flvc.org/fau/fd/FA00014037
Use and Reproduction: Copyright © is held by the author with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.