L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft

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

doi:10.3182/20120919-3-IT-2046.00025

L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft

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

Technical University of Denmark

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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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 language	English
Title of host publication	Proceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Crafts
Publisher	International Federation of Automatic Control
Publication date	2012
Pages	144-151
ISBN (Print)	978-3-902823-60-1
DOIs	https://doi.org/10.3182/20120919-3-IT-2046.00025
Publication status	Published - 2012
Event	9th IFAC Conference on Manoeuvring and Control of Marine Craft - Grand Hotel Arenzano, Arentzano, Italy Duration: 19 Sept 2012 → 21 Sept 2012 Conference number: 9 https://www.sciencedirect.com/journal/ifac-proceedings-volumes/vol/45/issue/27

Conference

Conference	9th IFAC Conference on Manoeuvring and Control of Marine Craft
Number	9
Location	Grand Hotel Arenzano
Country/Territory	Italy
City	Arentzano
Period	19/09/2012 → 21/09/2012
Internet address	https://www.sciencedirect.com/journal/ifac-proceedings-volumes/vol/45/issue/27

Keywords

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

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10.3182/20120919-3-IT-2046.00025

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title = "L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft",

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{\textquoteright}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{\textquoteright} changes and robustness of the closed loop system.",

keywords = "L1 adaptive control, Grey-box identification, LPV systems, Unmanned vehicles, High-speed maneuvering",

author = "Svendsen, \{Casper H.\} and Holck, \{Niels Ole\} and Roberto Galeazzi and Mogens Blanke",

year = "2012",

doi = "10.3182/20120919-3-IT-2046.00025",

language = "English",

isbn = "978-3-902823-60-1",

pages = "144--151",

booktitle = "Proceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Crafts",

publisher = "International Federation of Automatic Control",

note = "9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 ; Conference date: 19-09-2012 Through 21-09-2012",

url = "https://www.sciencedirect.com/journal/ifac-proceedings-volumes/vol/45/issue/27",

}

Svendsen, CH, Holck, NO, 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. International Federation of Automatic Control, pp. 144-151, 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arentzano, Italy, 19/09/2012. https://doi.org/10.3182/20120919-3-IT-2046.00025

L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft. / Svendsen, Casper H. ; Holck, Niels Ole; Galeazzi, Roberto et al.
Proceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Crafts. International Federation of Automatic Control, 2012. p. 144-151.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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T1 - L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft

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AU - Blanke, Mogens

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N2 - 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.

AB - 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.

KW - L1 adaptive control

KW - Grey-box identification

KW - LPV systems

KW - Unmanned vehicles

KW - High-speed maneuvering

U2 - 10.3182/20120919-3-IT-2046.00025

DO - 10.3182/20120919-3-IT-2046.00025

M3 - Article in proceedings

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BT - Proceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Crafts

PB - International Federation of Automatic Control

T2 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft

Y2 - 19 September 2012 through 21 September 2012

ER -

L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft

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Conference

Keywords

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