Author Type

Graduate Student

Date of Award

2022

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Dhanak, Manhar

Abstract

This thesis presents the development a sliding mode controller and vehicle allocation to control a surface vessel platform within a high degree of accuracy. This is part of ongoing development on the WAMV platform at Florida Atlantic University to improve autonomy in marine systems. By developing models for the untested thrusters currently used, the efficacy of a Sliding Mode Controller is evaluated, and a new control allocation developed based on the gradient descent optimization method is developed to manage the thrusters’ constrained angles of thrust generation. The official simulation for the WAMV platform was then modified to include these aspects and the system was tested under wind conditions and was successful in achieving control to waypoints. The gradient descent optimization used for the control allocation did manage to increase the accuracy of both heading and position of the system at convergence. The sliding mode controller navigated to the desired waypoint however maintained oscillations of cross track that were less then 2m and heading error less 20 degrees.

Extent

77 p.

Comments

Includes bibliography.|Thesis (MS)--Florida Atlantic University, 2022.|FAU Electronic Theses and Dissertations Collection|Includes bibliography.

Identifier

FA00014037

Format

pdf

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