Asymmetric Steering Hydrodynamics Identification of a Differential Drive Unmanned Surface Vessel

Published on Jan 1, 2018in IFAC-PapersOnLine
· DOI :10.1016/j.ifacol.2018.09.494
Gerben Peeters (Katholieke Universiteit Leuven), Rene Boonen9
Estimated H-index: 9
(Katholieke Universiteit Leuven)
+ 3 AuthorsPeter Slaets6
Estimated H-index: 6
(Katholieke Universiteit Leuven)
Abstract This paper identifies the asymmetric steering characteristics of a Wave Adaptive Modular Vessel (WAM-V) deployed as an Unmanned Surface Vessel (USV). Differentially steered propellers create a virtual rudder movement without explicitly inducing lateral rudder forces. However, a rotating propeller will generate a small lateral force, depending on its rotational direction and speed, also known as propeller walk. The WAM-V USV uses two similar propellers to manoeuvre, hence the propeller walk effects are doubled. Consequentially, the vessel has asymmetric turning characteristics which result in different steering behaviours when turning port or starboard. Heading measurements and virtual rudder movements suffice for identifying these turning characteristics at a certain speed. To do so, a first order Nomoto model was chosen as identification model. Three varieties of this model were identified: one for turning port, one for turning starboard, and one that averages the two aforementioned cases. These offline identified Nomoto models can serve multiple objectives. They can be used for simulation purposes, which themselves can be used to test control algorithms offline. Moreover, the coefficients of the Nomoto model itself can be used to tune a Proportional Integral Derivative (PID) controller. Finally, the Nomoto models can also be used as a feed forward term in control algorithms.
  • References (3)
  • Citations (0)
📖 Papers frequently viewed together
2 Citations
2013ISIE: International Symposium on Industrial Electronics
3 Authors (Xiaodong Wu, ..., Lei Wang)
9 Citations
3 Authors (L Hagelstam, ..., L Sten)
78% of Scinapse members use related papers. After signing in, all features are FREE.
#1David Moreno-Salinas (UNED: National University of Distance Education)H-Index: 8
#2Dictino ChaosH-Index: 6
Last. Joaquín Aranda AlmansaH-Index: 15
view all 4 authors...
The availability of adequate system models to reproduce, as faithfully as possible, the actual behaviour of the experimental systems is of key importance. In marine systems, the changing environmental conditions and the complexity of the infrastructure needed to carry out experimental tests call for mathematical models for accurate simulations. There exist a wide number of techniques to define mathematical models from experimental data. Support Vector Machines (SVMs) have shown a great performan...
15 CitationsSource
#1Michael R. Benjamin (MIT: Massachusetts Institute of Technology)H-Index: 16
#2Henrik Schmidt (MIT: Massachusetts Institute of Technology)H-Index: 32
Last. John J. Leonard (MIT: Massachusetts Institute of Technology)H-Index: 59
view all 4 authors...
This document describes the MOOS-IvP autonomy software for unmanned marine vehicles and its use in large-scale ocean sensing systems. MOOS-IvP is composed of two open-source software projects funded by the Office of Naval Research. MOOS provides a core autonomy middleware capability, and the MOOS project additionally provides a set of ubiquitous infrastructure utilities. The IvP Helm is the primary component of an additional set of capabilities implemented to form a full marine autonomy suite kn...
118 CitationsSource
#1Rodney A. Brooks (MIT: Massachusetts Institute of Technology)H-Index: 55
A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust a...
6,871 CitationsSource
Cited By0