L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft

Casper H. Svendsen, Niels Ole Holck, Roberto Galeazzi, Mogens Blanke

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

743 Downloads (Pure)

Abstract

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.
Original languageEnglish
Title of host publicationProceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Crafts
PublisherInternational Federation of Automatic Control
Publication date2012
Pages144-151
ISBN (Print)978-3-902823-60-1
DOIs
Publication statusPublished - 2012
EventIFAC Conference on Manoeuvring - Grand Hotel Arenzano, Arenzano, Italy
Duration: 19 Sep 201221 Sep 2012
Conference number: 9

Conference

ConferenceIFAC Conference on Manoeuvring
Number9
LocationGrand Hotel Arenzano
CountryItaly
CityArenzano
Period19/09/201221/09/2012

Keywords

  • L1 adaptive control
  • Grey-box identification
  • LPV systems
  • Unmanned vehicles
  • High-speed maneuvering

Cite this

Svendsen, C. H., Holck, N. O., Galeazzi, R., & Blanke, M. (2012). L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft. In Proceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Crafts (pp. 144-151). International Federation of Automatic Control. https://doi.org/10.3182/20120919-3-IT-2046.00025