NDLI: Study on adaptive control of the propelling and turning manoeuvre of an autonomous water vehicle for ocean observation

Content Provider	IEEE Xplore Digital Library
Author	Chu Jianxin Gu Wei Chen Xiaoya
Copyright Year	2008
Description	Author affiliation: Marine Technol. & Control Eng. Key Lab., Shanghai Maritime Univ., Shanghai, China (Chu Jianxin; Gu Wei; Chen Xiaoya)
Abstract	Autonomous water vehicle (AWV) is a kind of remote-control unmanned boat which can self- autonomously sail at the water, and carry different observation instruments to cruise offshore. There are two sets of propellers which are of elec-driving, turnable, and installed on the port and starboard of AWV. Through controlling the revolution speed and the angles of two elec-driving propellers on the port and starboard, the motion of the AWV can be realized. The wind, wave and current on the sea are random interferences to the AWV, the uncertainty and incompletion of the interference information make it difficult to control and manoeuvre the AWV. Because the movement of AWV can be described by the three degrees of freedom in the movement coordinate system, the movement equations and response equations of AWV's motion are built. An adaptive control method based on the model reference is proposed to control the speed and the cruise of AWV. The test results that: by control separately the port and starboard turnable elec-driving propellers working at different speeds and turning angles, the flexible manoeuvrability of the AWV is satisfied and the functions of auto-location control and fixed-position turning control are realized. The manoeuvrability of the AWV is able to meet the requirements of design.
Starting Page	1
Ending Page	4
File Size	749024
Page Count	4
File Format	PDF
ISBN	9781424426195
DOI	10.1109/OCEANS.2008.5151837
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-15
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Propulsion Turning Marine vehicles Remotely operated vehicles Mobile robots Oceans Propellers Interference Equations Manoeuvrability Autonomous water vehicle Propelling and turning control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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