Design and Implement of a Trimaran Unmanned Surface Vehicle System

Author

Qi, Juntong ; Peng, Yan ; Wang, He ; Han, Jianda

Author_Institution

Chinese Acad. Sci., Shenyang

fYear

2007

fDate

8-11 July 2007

Firstpage

361

Lastpage

365

Abstract

This paper describes recent research on system design of a trimaran unmanned surface vehicle (TUSV) control system and a control scheme for such a vehicle. The trimaran is to be designed as a test bed for the implementation of new nonlinear control theories. The full system has been tested successfully in the manual operation and obtained useful data, which is to be analyzed and used in identifying the TUSV model and design advanced control technologies. A control methodology for trimaran, which is based on nonlinear dynamic equations with a simplified thrust-torque generation model valid for cruising is presented.

Keywords

control system synthesis; marine communication; marine vehicles; nonlinear dynamical systems; remotely operated vehicles; wireless LAN; nonlinear control system; nonlinear dynamic equation; thrust-torque generation model; trimaran unmanned surface vehicle system; wireless-LAN communication; Communication system control; Control systems; Laboratories; Marine vehicles; Pulse width modulation; Satellite ground stations; Sea surface; Sensor systems; Three-term control; Vehicle dynamics; PID control; Trimaran; USV; controller design;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Acquisition, 2007. ICIA '07. International Conference on

Conference_Location

Seogwipo-si

Print_ISBN

1-4244-1220-X

Electronic_ISBN

1-4244-1220-X

Type

conf

DOI

10.1109/ICIA.2007.4295759

Filename

4295759