A modeling framework for six degree-of-freedom control of unmanned sea surface vehicles

P. Krishnamurthy, F. Khorrami, S. Fujikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages2676-2681
Number of pages6
DOIs
StatePublished - 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: Dec 12 2005Dec 15 2005

Publication series

NameProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume2005

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period12/12/0512/15/05

ASJC Scopus subject areas

  • Engineering(all)

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