東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Adaptive Controller Design for an Au...

Klinger, Wilhelm B.

Linked to FindBook

Google Book

Amazon

博客來

Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag./
Author:	Klinger, Wilhelm B.
Description:	123 p.
Notes:	Source: Masters Abstracts International, Volume: 53-01.
Contained By:	Masters Abstracts International53-01(E).
Subject:	Ocean engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1527802
ISBN:	9781303979477

Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag.
Klinger, Wilhelm B.

Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag. - 123 p.

Source: Masters Abstracts International, Volume: 53-01.

Thesis (M.S.)--Florida Atlantic University, 2014.

The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping method and a model reference adaptive controller are developed and ultimately compared through experimental testing against a previously developed control law. Experimental tests show that the adaptive speed control law outperforms the non-adaptive alternatives by as much as 98% in some cases; however heading control is slightly sacrificed when using the adaptive speed approach. It is found that the adaptive control law is the best alternative when drag and mass properties of the vessel are time-varying and uncertain.

ISBN: 9781303979477Subjects--Topical Terms:

660731
Ocean engineering.

Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag.
LDR:01926nmm a2200289 4500 001 2066005
005 20151221141511.5
008 170521s2014 ||||||||||||||||| ||eng d
020 $a 9781303979477
035 $a (MiAaPQ)AAI1527802
035 $a AAI1527802
040 $a MiAaPQ $c MiAaPQ
100 1 $a Klinger, Wilhelm B. $3 3180767
245 1 0 $a Adaptive Controller Design for an Autonomous Twin-Hulled Surface Vessel with Uncertain Displacement and Drag.
300 $a 123 p.
500 $a Source: Masters Abstracts International, Volume: 53-01.
500 $a Adviser: Karl von Ellenrieder.
502 $a Thesis (M.S.)--Florida Atlantic University, 2014.
520 $a The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping method and a model reference adaptive controller are developed and ultimately compared through experimental testing against a previously developed control law. Experimental tests show that the adaptive speed control law outperforms the non-adaptive alternatives by as much as 98% in some cases; however heading control is slightly sacrificed when using the adaptive speed approach. It is found that the adaptive control law is the best alternative when drag and mass properties of the vessel are time-varying and uncertain.
590 $a School code: 0119.
650 4 $a Ocean engineering. $3 660731
650 4 $a Robotics. $3 519753
650 4 $a Naval engineering. $3 3173824
690 $a 0547
690 $a 0771
690 $a 0468
710 2 $a Florida Atlantic University. $3 1017837
773 0 $t Masters Abstracts International $g 53-01(E).
790 $a 0119
791 $a M.S.
792 $a 2014
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1527802