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.
|Commitee:||Elsayed, Mostafa, Lakhotia, Arun|
|School:||University of Louisiana at Lafayette|
|School Location:||United States -- Louisiana|
|Source:||MAI 54/04M(E), Masters Abstracts International|
|Keywords:||Controls, Marine, Vessel|
Copyright in each Dissertation and Thesis is retained by the author. All Rights Reserved
The supplemental file or files you are about to download were provided to ProQuest by the author as part of a
dissertation or thesis. The supplemental files are provided "AS IS" without warranty. ProQuest is not responsible for the
content, format or impact on the supplemental file(s) on our system. in some cases, the file type may be unknown or
may be a .exe file. We recommend caution as you open such files.
Copyright of the original materials contained in the supplemental file is retained by the author and your access to the
supplemental files is subject to the ProQuest Terms and Conditions of use.
Depending on the size of the file(s) you are downloading, the system may take some time to download them. Please be