Current Search: Catamarans--Design and construction (x)
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Title
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A Low-Level USV Controller Incorporating an Environmental Disturbance Observer.
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Creator
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Diddams, Michael Albert, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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Modeling, system identification and controller design for a 16’ catamaran is described with the objective of enhanced operation in the presence of environmental disturbances including wind, waves and current. The vehicle is fully-actuated in surge, sway and yaw degrees of freedom. Analytical and experimental system identification is carried out to create a numerical model of the vehicle. A composite system of a Multiinput multi-output Proportional-Derivative (PD) controller and a nonlinear...
Show moreModeling, system identification and controller design for a 16’ catamaran is described with the objective of enhanced operation in the presence of environmental disturbances including wind, waves and current. The vehicle is fully-actuated in surge, sway and yaw degrees of freedom. Analytical and experimental system identification is carried out to create a numerical model of the vehicle. A composite system of a Multiinput multi-output Proportional-Derivative (PD) controller and a nonlinear disturbance observer is used for station-keeping and transiting modes of operation. A waypoint transiting algorithm is developed to output heading and cross-track error from vehicle position and waypoints. A control allocation method is designed to lower azimuthing frequency and incorporate angle saturation and rate limits. Validation is achieved with improvement in simulation with the addition of the nonlinear observer.
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Date Issued
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2018
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PURL
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http://purl.flvc.org/fau/fd/FA00013022
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Subject Headings
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Unmanned surface vehicles, Environmental disturbances, Catamarans--Design and construction
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Format
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Document (PDF)
