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A Low-level USV Controller Incorporating an Environmental Disturbance Observer
Başlık:
A Low-level USV Controller Incorporating an Environmental Disturbance Observer
Yazar:
Diddams, Michael Albert, author. (orcid)0000-0003-2528-265X
ISBN:
9780438012912
Yazar Ek Girişi:
Fiziksel Tanımlama:
1 electronic resource (89 pages)
Genel Not:
Source: Masters Abstracts International, Volume: 57-06M(E).
Advisors: Manhar R. Dhanak Committee members: Betsy Seiffert; Karl D. von Ellenrieder.
Özet:
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 Multi-input 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.
Notlar:
School code: 0119
Tüzel Kişi Ek Girişi:
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Yer Numarası | Demirbaş Numarası | Shelf Location | Lokasyon / Statüsü / İade Tarihi |
---|---|---|---|
XX(691531.1) | 691531-1001 | Proquest E-Tez Koleksiyonu | Arıyor... |
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