A low-level USV controller incorporating an environmental disturbance observer
| Autor: | Armando J. Sinisterra, Manhar R. Dhanak, Michael A. Diddams |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Heading (navigation) Computer science System identification 02 engineering and technology Degrees of freedom (mechanics) 01 natural sciences 010305 fluids & plasmas Waypoint Nonlinear system 020901 industrial engineering & automation Experimental system Control theory Position (vector) 0103 physical sciences |
| Zdroj: | OCEANS 2019 MTS/IEEE SEATTLE. |
| DOI: | 10.23919/oceans40490.2019.8962402 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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