Design and Modeling of Unmanned Trimaran Surface Vehicles

被引：0
|
作者：
Peng, Yan [1 ,2 ]
Han, Jianda [2 ]
机构：
[1] Chinese Acad Sci, Grad Sch, Beijing 100864, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
来源：
ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3 | 2009年
关键词：
TRACKING CONTROL; GLOBAL TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The design, development, modeling and sea trials of the Unmanned Trimaran Surface Vehicles (UTSV) are presented in this paper. Hardware and sensors for navigation, localization and obstacle avoidance was developed. Sensors were chosen to provide the necessary data for an autonomous controller For control design, six DOF dynamic modeling of autonomous Trimarans is presented. The detailed mathematical modeling is intended to provide the appropriate framework for a control design which explicitly addressed the six DOF UTSV dynamics. A control system was developed based on backstepping to guide the vessel to track desired trajectories based on the input of the sensors. Physical experiments were conducted to determine the maneuvering property of UTSV.
引用
收藏
页码：736 / +
页数：3
相关论文
共 50 条
  • [1] Modeling and Control of Unmanned Trimaran Vehicles
    Peng Yan
    Liu Mei
    Huang Qingjiu
    Luo Jun
    [J]. ADVANCES IN MECHATRONICS TECHNOLOGY, 2011, 43 : 541 - +
  • [2] Design and implement of a trimaran unmanned surface vehicle system
    Qi, Juntong
    Peng, Yan
    Wang, He
    Han, Jianda
    [J]. 2007 INTERNATIONAL CONFERENCE ON INFORMATION ACQUISITION, VOLS 1 AND 2, 2007, : 362 - 366
  • [3] ADAPTIVE UKF BASED TRACKING CONTROL FOR UNMANNED TRIMARAN VEHICLES
    Peng, Yan
    Han, Jianda
    Huang, Qingjiu
    [J]. INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2009, 5 (10B): : 3505 - 3515
  • [4] Cooperative communication framework design for the unmanned aerial vehicles-unmanned surface vehicles formation
    Ma, Yong
    Zhao, Yujiao
    Qi, Xin
    Zheng, Yuanzhou
    Gan, Runze
    [J]. ADVANCES IN MECHANICAL ENGINEERING, 2018, 10 (05):
  • [5] Unmanned surface vehicles: From a hull design perspective
    Ghazali, Mohamad Hazwan Mohd
    Satar, Mohd Hafiz Abdul
    Rahiman, Wan
    [J]. OCEAN ENGINEERING, 2024, 312
  • [6] The method of comprehensive performance optimization design for trimaran unmanned vehicle
    Zhang, Jincheng
    Ke, Weishun
    Han, Xiaofeng
    Yang, Songlin
    [J]. 1600, IOP Publishing Ltd (2003):
  • [7] Fault Detection Filter and Controller Design for Unmanned Surface Vehicles
    Wang, Yu-Long
    Han, Qing-Long
    Wang, Tian-Bao
    Peng, Chen
    [J]. PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2016, : 70 - 75
  • [8] Design and Implementation of PHM System Framework for Unmanned Surface Vehicles
    Zhou, Yiling
    Hu, Tao
    Yang, Jianjun
    [J]. 2019 PROGNOSTICS AND SYSTEM HEALTH MANAGEMENT CONFERENCE (PHM-QINGDAO), 2019,
  • [9] Control-Oriented Planar Motion Modeling of Unmanned Surface Vehicles
    Sonnenburg, C.
    Gadre, A.
    Horner, D.
    Kragelund, S.
    Marcus, A.
    Stilwell, D. J.
    Woolsey, C. A.
    [J]. OCEANS 2010, 2010,
  • [10] Platoon control design for unmanned surface vehicles subject to input delay
    Xiaoling Liang
    Yuexin Zhang
    Guotao Yang
    [J]. Scientific Reports, 11
12345