Dissertation/Thesis Abstract

A robust linear dynamic positioning controller for a marine surface vehicle
by DeRensis, Thomas P., M.S., University of Rhode Island, 2013, 88; 1545508
Abstract (Summary)

The autonomous surface vehicle (ASV) owned by the University of Rhode Island currently uses a PID controller that is insufficient for its maneuvering goals. The goal develop a robust linear controller based on state space models that is able to follow a given path with minimal error. A linear controller was developed that used inverse filters to follow a desired path with greater accuracy and used new methods for choosing feedback gains to provide greater H robustness. The controller was tested in simulation by performing an ellipse maneuver on a nonlinear dynamic positioning model of the CyberShip II under disturbances, measurement noise, and model perturbations. It was found that these new methods tracked the desired ellipse with lower error than existing pole placement methods and no inverse filter. These methods show promise for real world implementation on URI's ASV once resources become available for approximate modeling.

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Indexing (document details)
Advisor: Vaccaro, Richard
Commitee: Licht, Stephen, Swaszek, Peter
School: University of Rhode Island
Department: Electrical Engineering
School Location: United States -- Rhode Island
Source: MAI 52/02M(E), Masters Abstracts International
Subjects: Electrical engineering
Keywords: Dynamic positioning, Feedthrough inverse filter, Linear control, Marine control, Robust, Surface vehicle
Publication Number: 1545508
ISBN: 978-1-303-40238-8
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