Note
Includes bibliography.
Member of
Contributors
Publisher
Florida Atlantic University
Date Issued
2018
EDTF Date Created
2018
Description
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 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.
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.
Language
Type
Form
Extent
89 p.
Subject (Topical)
Identifier
FA00013022
Additional Information
Includes bibliography.
Thesis (M.S.)--Florida Atlantic University, 2018.
FAU Electronic Theses and Dissertations Collection
Date Backup
2018
Date Created Backup
2018
Date Text
2018
Date Created (EDTF)
2018
Date Issued (EDTF)
2018
Extension
FAU
IID
FA00013022
Organizations
Attributed name: Florida Atlantic University
Attributed name: College of Engineering and Computer Science
Attributed name: Department of Ocean and Mechanical Engineering
Person Preferred Name
Diddams, Michael Albert
author
Graduate College
Physical Description
application/pdf
89 p.
Title Plain
A Low-Level USV Controller Incorporating an Environmental Disturbance Observer
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.
http://rightsstatements.org/vocab/InC/1.0/
Origin Information
2018
2018
Florida Atlantic University
Boca Raton, Fla.
Physical Location
Florida Atlantic University Libraries
Place
Boca Raton, Fla.
Sub Location
Digital Library
Title
A Low-Level USV Controller Incorporating an Environmental Disturbance Observer
Other Title Info
A Low-Level USV Controller Incorporating an Environmental Disturbance Observer