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. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2018. / FAU Electronic Theses and Dissertations Collection
| Identifer | oai:union.ndltd.org:fau.edu/oai:fau.digital.flvc.org:fau_40797 |
| Contributors | Diddams, Michael Albert (author), Dhanak, Manhar R. (Thesis advisor), Florida Atlantic University (Degree grantor), College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering |
| Publisher | Florida Atlantic University |
| Source Sets | Florida Atlantic University |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation, Text |
| Format | 89 p., application/pdf |
| Rights | 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/ |
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