The development, implementation, and testing of a leader-follower based robust nonlinear formation controller is discussed in this thesis. This controller uses sliding mode control on the length and angle between the leader and follower vessels to produce the desired formation. A boat
model, assuming planar motion (three degrees of freedom), is used as the bases for the controller.
Open loop testing is performed to determine parameter values to match the simulation model to the physical one and, upon tuning of the controller to match, closed loop testing of the controller with a virtual leader is also
performed. From these tests it is found that the controller is unstable, thus improvements to the controller, through changes made to the model and to the parameter identification process, are undertaken. Simulations comparing the initial and updated models of the vehicle to open loop data show an improvement in the new model.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:AEU.10048/666 |
| Date | 11 1900 |
| Creators | Van Kleeck, Christopher John |
| Contributors | Fahimi, Farbod (Mechanical Engineering), Koch, C.R. (Mechanical Engineering), Fahimi, Farbod (Mechanical Engineering), Koch, C.R. (Mechanical Engineering), Dinavahi, Venkata (Electrical and Computer Engineering), Behzadipour, Saeed (Mechanical Engineering) |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 1450643 bytes, application/pdf |
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