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Adaptive Controller Design for an Au...

Klinger, Wilhelm B.

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Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag./
作者:	Klinger, Wilhelm B.
面頁冊數:	123 p.
附註:	Source: Masters Abstracts International, Volume: 53-01.
Contained By:	Masters Abstracts International53-01(E).
標題:	Ocean engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1527802
ISBN:	9781303979477

Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag.
Klinger, Wilhelm B.

Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag. - 123 p.

Source: Masters Abstracts International, Volume: 53-01.

Thesis (M.S.)--Florida Atlantic University, 2014.

The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping method and a model reference adaptive controller are developed and ultimately compared through experimental testing against a previously developed control law. Experimental tests show that the adaptive speed control law outperforms the non-adaptive alternatives by as much as 98% in some cases; however heading control is slightly sacrificed when using the adaptive speed approach. It is found that the adaptive control law is the best alternative when drag and mass properties of the vessel are time-varying and uncertain.

ISBN: 9781303979477Subjects--Topical Terms:

660731
Ocean engineering.

Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag.
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500 $a Adviser: Karl von Ellenrieder.
502 $a Thesis (M.S.)--Florida Atlantic University, 2014.
520 $a The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping method and a model reference adaptive controller are developed and ultimately compared through experimental testing against a previously developed control law. Experimental tests show that the adaptive speed control law outperforms the non-adaptive alternatives by as much as 98% in some cases; however heading control is slightly sacrificed when using the adaptive speed approach. It is found that the adaptive control law is the best alternative when drag and mass properties of the vessel are time-varying and uncertain.
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