Loading...

Nonlinear Control of a Monohull Planing Vessel, Using Sliding Mode

Adib, Mahdi | 2013

589 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44331 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Salarieh, Hassan
  7. Abstract:
  8. A sliding mode nonlinear controller has been developed to control a monohull hard-chine planing vessel. Planing vessels has been used for shoreward marine missions. On the other hand, according to vast shores of our country, offshore applications could be of extra importance for us. Autopilot of a vessel consists of two stages: trajectory design and trajectory control. In this project, trajectory control is being done using sliding-mode nonlinear control method, considering the fact that according to nonlinear dynamics of planing vessels, linear control would not show desirable results. In this dissertation, after description of main information about planing vessels and prior researches, 4-DOF nonlinear dynamic differential equations of motion of a planing vessel has been stated. Solving these equations, vessel’s behavior has been estimated. The most important part of this thesis is design of the sliding mode controller. To accomplish this task, the equations of motion have been translated from body frame to inertial frame. This new equations have become the base of nonlinear sliding-mode controller. The controller is capable of controlling vessel in various desired trajectories. Here, two principal trajectories have been considered: straight line and circular trajectory. Furthermore, robustness of control method is verified, considering equation parameters’ uncertainties and introducing local disturbances to the system
  9. Keywords:
  10. Nonlinear Control ; Robust Control ; Nonlinear Dynamics ; Sliding Mode ; Monohull planing Vessel

 Digital Object List

 Bookmark

No TOC