Publication: Research - peer-review › Article in proceedings – Annual report year: 2012
This work addresses the issue of designing an adaptive robust control system to govern the steering of a high speed unmanned personal watercraft (PWC) maintaining equal performance across the craft’s envelope of operation. The maneuvering dynamics of a high speed PWC is presented and a strong variation over the envelope of operational conditions, including speed, is highlighted. The complexity of the nonlinear dynamics is overcome through identification of linear models at different speed regimes. A gray-box identification is conducted from full scale experiments and results in a four degrees-of-freedom surge-sway-yaw-roll model. An L1 adaptive autopilot is then designed, which allows to achieve fast adaption to system parameters’ changes and robustness of the closed loop system.
|Title||Proceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Crafts|
|Number of pages||9|
|Publisher||International Federation of Automatic Control|
|Conference||IFAC Conference on Manoeuvring|
|Period||19/09/12 → 21/09/12|
- L1 adaptive control, Grey-box identification, LPV systems, Unmanned vehicles, High-speed maneuvering
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