A low-level USV controller incorporating an environmental disturbance observer
- Resource Type
- Authors
- Armando J. Sinisterra; Manhar R. Dhanak; Michael A. Diddams
- Source
- OCEANS 2019 MTS/IEEE SEATTLE.
- Subject
- 0209 industrial biotechnology
Heading (navigation)
Computer science
System identification
02 engineering and technology
Degrees of freedom (mechanics)
01 natural sciences
010305 fluids & plasmas
Waypoint
Nonlinear system
020901 industrial engineering & automation
Experimental system
Control theory
Position (vector)
0103 physical sciences
- Language
Modeling, system identification and controller design for a 16' catamaran is described with the objective of enhanced operation in the presence of environmental disturbances including wind, waves and current. The vehicle is fully-actuated in surge, sway and yaw degrees of freedom. Analytical and experimental system identification is carried out to create a numerical model of the vehicle. A composite system of a Multi-input multi-output Proportional-Derivative (PD) controller and a nonlinear disturbance observer is used for station-keeping and transiting modes of operation. A waypoint transiting algorithm is developed to output heading and cross-track error from vehicle position and waypoints. A control allocation method is designed to lower azimuthing frequency and incorporate angle saturation and rate limits. Validation is achieved with improvement in simulation with the addition of the nonlinear observer.