TY - GEN
T1 - A modeling framework for six degree-of-freedom control of unmanned sea surface vehicles
AU - Krishnamurthy, P.
AU - Khorrami, F.
AU - Fujikawa, S.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
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U2 - 10.1109/CDC.2005.1582567
DO - 10.1109/CDC.2005.1582567
M3 - Conference contribution
AN - SCOPUS:33847234652
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 2676
EP - 2681
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -