Model
Digital Document
Publisher
Florida Atlantic University
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.
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