Title :
Design and Implement of a Trimaran Unmanned Surface Vehicle System
Author :
Qi, Juntong ; Peng, Yan ; Wang, He ; Han, Jianda
Author_Institution :
Chinese Acad. Sci., Shenyang
Abstract :
This paper describes recent research on system design of a trimaran unmanned surface vehicle (TUSV) control system and a control scheme for such a vehicle. The trimaran is to be designed as a test bed for the implementation of new nonlinear control theories. The full system has been tested successfully in the manual operation and obtained useful data, which is to be analyzed and used in identifying the TUSV model and design advanced control technologies. A control methodology for trimaran, which is based on nonlinear dynamic equations with a simplified thrust-torque generation model valid for cruising is presented.
Keywords :
control system synthesis; marine communication; marine vehicles; nonlinear dynamical systems; remotely operated vehicles; wireless LAN; nonlinear control system; nonlinear dynamic equation; thrust-torque generation model; trimaran unmanned surface vehicle system; wireless-LAN communication; Communication system control; Control systems; Laboratories; Marine vehicles; Pulse width modulation; Satellite ground stations; Sea surface; Sensor systems; Three-term control; Vehicle dynamics; PID control; Trimaran; USV; controller design;
Conference_Titel :
Information Acquisition, 2007. ICIA '07. International Conference on
Conference_Location :
Seogwipo-si
Print_ISBN :
1-4244-1220-X
Electronic_ISBN :
1-4244-1220-X
DOI :
10.1109/ICIA.2007.4295759
