Current Search: VanZwieten, Tannen S. (x)
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Title
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Dynamic simulation and control of an autonomous surface vehicle.
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Creator
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VanZwieten, Tannen S., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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Autonomous Surface Vehicle (ASV) research and development is inspired by the navigating and communicatiog challenges of Autonomous Underwater Vehicles (AUVs). The development objective is to provide real time positioning of and communication with AUVs through the air-sea interface. Despite extensive research on AUVs, the ASV has had limited research. The NAVY's desire to make AUV's defense capabilities realizable adds to the project's appeal. Guidance and control play an integral part in the...
Show moreAutonomous Surface Vehicle (ASV) research and development is inspired by the navigating and communicatiog challenges of Autonomous Underwater Vehicles (AUVs). The development objective is to provide real time positioning of and communication with AUVs through the air-sea interface. Despite extensive research on AUVs, the ASV has had limited research. The NAVY's desire to make AUV's defense capabilities realizable adds to the project's appeal. Guidance and control play an integral part in the ASV's success, motivating this thesis work. The overall vehicle dynamics were modeled and numerically simulated for 3 DOF lateral motion. These are development tools for the testing and tuning of PID and adaptive control algorithms. The results show the adaptive controller to be advantageous in terms of tuning, robustness and tracking performances. It uses a single layer neural network that bypasses the need for information about the system's dynamic structure and characteristics and provides portability.
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Date Issued
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2003
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PURL
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http://purl.flvc.org/fcla/dt/13081
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Subject Headings
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Hydrodynamics, Adaptive control systems--Computer simulation, PID controllers--Computer simulation, Neural networks (Computer science)
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Format
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Document (PDF)
