Control design for Unmanned Sea Surface Vehicles: Hardware-In-The-Loop simulator and experimental results

P. Krishnamurthy, F. Khorrami, T. L. Ng

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

Abstract

We address the control design problem for stabilization and tracking of Unmanned Sea Surface Vehicles (USSVs). To this end, we describe the design and implementation of a high-accuracy real-time Six Degree-of-Freedom (DOF) Hardware-In-The-Loop (HITL) simulation platform for use in development and evaluation of controllers for USSVs, The HITL platform incorporates a nonlinear dynamic model of the USSV, emulation of sensors and instrumentation onboard the USSV, and the actual hardware and software components used for control of the USSV in the experimental testbed. Detailed models of hydrodynamic effects, actuators including thrusters/propellers and control surfaces, and disturbances including ocean currents, waves, and wind are included in the dynamic simulation. The fidelity of the developed HITL simulator is demonstrated through comparisons with experimental data collected from a USSV. We also propose a nonlinear backstepping-based controller for stabilization and tracking for USSVs and present closed-loop results from HITL simulation and experimental testing.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3660-3665
Number of pages6
DOIs
StatePublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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