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Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag

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. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2014. / FAU Electronic Theses and Dissertations Collection

Identiferoai:union.ndltd.org:fau.edu/oai:fau.digital.flvc.org:fau_13468
ContributorsKlinger, Wilhelm B. (author), von Ellenrieder, Karl (Thesis advisor), Florida Atlantic University (Degree grantor), College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
PublisherFlorida Atlantic University
Source SetsFlorida Atlantic University
LanguageEnglish
Detected LanguageEnglish
TypeElectronic Thesis or Dissertation, Text
Format122 p., application/pdf
RightsCopyright © 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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