Dissertation/Thesis Abstract

Model-Based Control of a High-Performance Marine Vessel
by Bergeron, Nicholas Paul, M.S., University of Louisiana at Lafayette, 2014, 56; 1585847
Abstract (Summary)

This thesis proposes a model-based control of a high performance marine vessel. With this model-based control, comprehensive controls based on the dynamics of the marine vessel will be obtained. The dynamics of the Anaconda, a high performance marine vessel built by Swiftships, Inc., were studied, and equations of motion reflecting the dynamics of the ship were created.

Using the equations of motion, the Anaconda was modeled and multiple point-to-point maneuvers were conducted to predict the movement of the boat in a constant current environment. Transfer functions were developed from the equations of motion and compared to transfer functions obtained from a system identification test done experimentally on the Anaconda to show the validity of the model. The system identification test consisted of a turning and acceleration response.

Using the controls gained from the model-based control, simulated heading changes were compared to experimental heading changes. These same controls were used to perform autonomous waypoint testing with the Anaconda. Since the model-based control was used the Anaconda was able to follow an ideal path relatively closely. A straight line, polygon, circle, and figure 8 autonomous waypoint tracking was performed. The RMS errors were relatively low compared to the errors present in the sensors that were used in measuring the Anaconda's performance.

Indexing (document details)
Advisor: Vaughan, Joshua
Commitee: Elsayed, Mostafa, Lakhotia, Arun
School: University of Louisiana at Lafayette
Department: Mechanical Engineering
School Location: United States -- Louisiana
Source: MAI 54/04M(E), Masters Abstracts International
Subjects: Ocean engineering
Keywords: Controls, Marine, Vessel
Publication Number: 1585847
ISBN: 978-1-321-65536-0
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