<p> This thesis proposes a model-based control of a high performance marine vessel. With this model-based control, comprehensive controls based on the dynamics of the marine vessel will be obtained. The dynamics of the Anaconda, a high performance marine vessel built by Swiftships, Inc., were studied, and equations of motion reflecting the dynamics of the ship were created. </p><p> Using the equations of motion, the Anaconda was modeled and multiple point-to-point maneuvers were conducted to predict the movement of the boat in a constant current environment. Transfer functions were developed from the equations of motion and compared to transfer functions obtained from a system identification test done experimentally on the Anaconda to show the validity of the model. The system identification test consisted of a turning and acceleration response.</p><p> Using the controls gained from the model-based control, simulated heading changes were compared to experimental heading changes. These same controls were used to perform autonomous waypoint testing with the Anaconda. Since the model-based control was used the Anaconda was able to follow an ideal path relatively closely. A straight line, polygon, circle, and figure 8 autonomous waypoint tracking was performed. The RMS errors were relatively low compared to the errors present in the sensors that were used in measuring the Anaconda's performance.</p>
| Identifer | oai:union.ndltd.org:PROQUEST/oai:pqdtoai.proquest.com:1585847 |
| Date | 07 April 2015 |
| Creators | Bergeron, Nicholas Paul |
| Publisher | University of Louisiana at Lafayette |
| Source Sets | ProQuest.com |
| Language | English |
| Detected Language | English |
| Type | thesis |
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