Author Type

Graduate Student

Date of Award

2018

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Dhanak, Manhar R.

Abstract

Modeling, system identification and controller design for a 16’ catamaran is described with the objective of enhanced operation in the presence of environmental disturbances including wind, waves and current. The vehicle is fully-actuated in surge, sway and yaw degrees of freedom. Analytical and experimental system identification is carried out to create a numerical model of the vehicle. A composite system of a Multiinput multi-output Proportional-Derivative (PD) controller and a nonlinear disturbance observer is used for station-keeping and transiting modes of operation. A waypoint transiting algorithm is developed to output heading and cross-track error from vehicle position and waypoints. A control allocation method is designed to lower azimuthing frequency and incorporate angle saturation and rate limits. Validation is achieved with improvement in simulation with the addition of the nonlinear observer.

Extent

89 p.

Comments

Includes bibliography.|Thesis (M.S.)--Florida Atlantic University, 2018.|FAU Electronic Theses and Dissertations Collection|Includes bibliography.

Identifier

FA00013022

Format

pdf

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