A Modeling Framework for Six Degree-of-Freedom Control of Unmanned Sea Surface Vehicles

Author

Krishnamurthy, P. ; Khorrami, F. ; Fujikawa, S.

Author_Institution

Control/Robotics Research Laboratory (CRRL), Department of Electrical and Computer Engineering, Polytechnic University, Brooklyn, NY, 11201. Email: pk@crrl.poly.edu

fYear

2005

fDate

12-15 Dec. 2005

Firstpage

2676

Lastpage

2681

Abstract

A detailed six degree-of-freedom (DOF) nonlinear dynamic model of an Unmanned Sea Surface Vehicle (USSV) is developed. Models of the significant hydrodynamic effects including radiation-induced and damping forces and moments are incorporated. Disturbance models of forces and moments caused by ocean currents, waves, and wind are also included. Detailed models of the actuators including thrusters/propellers and control surfaces are included. To illustrate the importance of a six DOF modeling and the impact of disturbances, simulation results with two different controllers are presented. The detailed mathematical modeling in this paper is intended to provide the appropriate framework for a control design which explicitly addresses the six DOF USSV dynamics along with the disturbances.

Keywords

Actuators; Control design; Damping; Hydrodynamics; Kinematics; Mathematical model; Oceans; Propellers; Sea surface; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on

Print_ISBN

0-7803-9567-0

Type

conf

DOI

10.1109/CDC.2005.1582567

Filename

1582567