國立虎尾科技大學 |

Wind feedforward control of a USV.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Wind feedforward control of a USV./
作者:	Qu, Huajin.
面頁冊數:	1 online resource (144 pages)
附註:	Source: Dissertation Abstracts International, Volume: 78-02(E), Section: B.
Contained By:	Dissertation Abstracts International78-02B(E).
標題:	Ocean engineering. -
電子資源:	click for full text (PQDT)
ISBN:	9781369274462

Wind feedforward control of a USV.
Qu, Huajin.

Wind feedforward control of a USV. - 1 online resource (144 pages)

Source: Dissertation Abstracts International, Volume: 78-02(E), Section: B.

Thesis (Ph.D.)

Includes bibliographical references

In this research, a wind feedforward (FF) controller has been developed to augment closed loop feedback controllers for the position and heading station keeping control of Unmanned Surface Vehicles (USVs). The performance of the controllers was experimentally tested using a16 foot USV in an outdoor marine environment. The FF controller was combined with three nonlinear feedback controllers, a Proportional-derivative (PD) controller, a Backstepping (BS) controller, and a Sliding mode (SM) controller, to improve the station-keeping performance of the USV. To address the problem of wind model uncertainties, adaptive wind feedforward (AFF) control schemes are also applied to the FF controller, and implemented together with the BS and SM feedback controllers. The adaptive law is derived using Lyapunov Theory to ensure stability. On-water station keeping tests of each combination of FF and feedback controllers were conducted in the U.S. Intracoastal Waterway in Dania Beach, FL USA. Five runs of each test condition were performed; each run lasted at least 10 minutes. The experiments were conducted in Sea State 1 with an average wind speed of between 1 to 4 meters per second and significant wave heights of less than 0.2 meters. When the performance of the controllers is compared using the Integral of the Absolute Error (IAE) of position criterion, the experimental results indicate that the BS and SM feedback controllers significantly outperform the PD feedback controller (e.g. a 33% and a 44% decreases in the IAE, respectively). It is also found that FF is beneficial for all three feedback controllers and that AFF can further improve the station keeping performance. For example, a BS feedback control combined with AFF control reduces the IAE by 25% when compared with a BS feedback controller combined with a non-adaptive FF controller. Among the eight combinations of controllers tested, SM feedback control combined with AFF control gives the best station keeping performance with an average position and heading error of 0.32 meters and 4.76 degrees, respectively.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9781369274462Subjects--Topical Terms:

857658
Ocean engineering.
Index Terms--Genre/Form:

554714
Electronic books.

Wind feedforward control of a USV.
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245 1 0 $a Wind feedforward control of a USV.
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500 $a Adviser: Karl von Ellenrieder.
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504 $a Includes bibliographical references
520 $a In this research, a wind feedforward (FF) controller has been developed to augment closed loop feedback controllers for the position and heading station keeping control of Unmanned Surface Vehicles (USVs). The performance of the controllers was experimentally tested using a16 foot USV in an outdoor marine environment. The FF controller was combined with three nonlinear feedback controllers, a Proportional-derivative (PD) controller, a Backstepping (BS) controller, and a Sliding mode (SM) controller, to improve the station-keeping performance of the USV. To address the problem of wind model uncertainties, adaptive wind feedforward (AFF) control schemes are also applied to the FF controller, and implemented together with the BS and SM feedback controllers. The adaptive law is derived using Lyapunov Theory to ensure stability. On-water station keeping tests of each combination of FF and feedback controllers were conducted in the U.S. Intracoastal Waterway in Dania Beach, FL USA. Five runs of each test condition were performed; each run lasted at least 10 minutes. The experiments were conducted in Sea State 1 with an average wind speed of between 1 to 4 meters per second and significant wave heights of less than 0.2 meters. When the performance of the controllers is compared using the Integral of the Absolute Error (IAE) of position criterion, the experimental results indicate that the BS and SM feedback controllers significantly outperform the PD feedback controller (e.g. a 33% and a 44% decreases in the IAE, respectively). It is also found that FF is beneficial for all three feedback controllers and that AFF can further improve the station keeping performance. For example, a BS feedback control combined with AFF control reduces the IAE by 25% when compared with a BS feedback controller combined with a non-adaptive FF controller. Among the eight combinations of controllers tested, SM feedback control combined with AFF control gives the best station keeping performance with an average position and heading error of 0.32 meters and 4.76 degrees, respectively.
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