Journal article · Conference paper
L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft
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.
Language: | English |
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Publisher: | International Federation of Automatic Control |
Year: | 2012 |
Pages: | 144-151 |
Proceedings: | 9th IFAC Conference on Manoeuvring and Control of Marine Craft |
ISBN: | 3902823607 and 9783902823601 |
ISSN: | 14746670 |
Types: | Journal article and Conference paper |
DOI: | 10.3182/20120919-3-IT-2046.00025 |
ORCIDs: | Galeazzi, Roberto and Blanke, Mogens |