Virginia Tech
    • Log in
    View Item 
    •   VTechWorks Home
    • ETDs: Virginia Tech Electronic Theses and Dissertations
    • Doctoral Dissertations
    • View Item
    •   VTechWorks Home
    • ETDs: Virginia Tech Electronic Theses and Dissertations
    • Doctoral Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Modeling, Identification, and Control of an Unmanned Surface Vehicle

    Thumbnail
    View/Open
    Sonnenburg_CR_D_2013.pdf (4.994Mb)
    Downloads: 13838
    Date
    2013-01-16
    Author
    Sonnenburg, Christian R.
    Metadata
    Show full item record
    Abstract
    This dissertation addresses the modeling, identification, and control of an automated planing vessel. To provide motion models for trajectory generation and to enable model-based control design for trajectory tracking, several experimentally identified models are compared over a wide range of speed and planing conditions for the Virginia Tech Ribcraft Unmanned Surface Vehicle. The modeling and identification objective is to determine a model which is sufficiently rich to enable effective model-based control design and trajectory optimization, sufficiently simple to allow parameter identification, and sufficiently general to describe a variety of hull forms and actuator configurations. Beginning with a 6 degree of freedom nonlinear dynamic model, several linear steering and speed models are obtained as well as a thruster model.
    The Ribcraft USV tracks trajectories generated with the selected maneuvering models by using a back- stepping trajectory controller. A PD cascade trajectory control law is also developed and the performance of the two controllers is compared using aggressive trajectories. The backstepping control law compares favorably to the PD cascade controller. The backstepping control law is then further modified to account for nonlinear sternward dynamics and for a constant or slowly varying fluid flow.
    URI
    http://hdl.handle.net/10919/19240
    Collections
    • Doctoral Dissertations [14971]

    If you believe that any material in VTechWorks should be removed, please see our policy and procedure for Requesting that Material be Amended or Removed. All takedown requests will be promptly acknowledged and investigated.

    Virginia Tech | University Libraries | Contact Us
     

     

    VTechWorks

    AboutPoliciesHelp

    Browse

    All of VTechWorksCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    Log inRegister

    Statistics

    View Usage Statistics

    If you believe that any material in VTechWorks should be removed, please see our policy and procedure for Requesting that Material be Amended or Removed. All takedown requests will be promptly acknowledged and investigated.

    Virginia Tech | University Libraries | Contact Us