Date of Award
2010
Document Type
Thesis
Publication Status
Version of Record
Submission Date
October 2026
Abstract
In this thesis multiple controllers are developed which command a small boat with twin tied outboard motors to hold a desired position. In the process of developing a controller to hold a position, controllers were first developed which follow a desired heading or path over ground with the motors outputting constant thrust. These heading and path following controllers were tuned and tested in a numerical simulation, then validated on the R/V Lee and Ocean Power vessels through sea trials in the Atlantic Ocean. After successful path following trials were performed, station keeping algorithms were developed and tuned in the numerical simulation, now with heading and thrust of the vessel both being variables to be controlled. After tuning in the numerical simulation, the Ocean power vessel was outfitted with systems for controlling throttle and steering with sea trials conducted in the Atlantic Ocean for station keeping.
Extent
xxii, 152 p. : ill. (some col.)
Recommended Citation
Fisher, Aaron D., "Development and implementation of an adaptive controller for station keeping of small outboard-powered vessels" (2010). Electronic Theses and Dissertations 2010 - 2019. 51.
https://digitalcommons.fau.edu/etd_general_6/51
Identifier
FADT2975247
Comments
by Aaron D. Fisher.|Thesis (M.S.C.S.)--Florida Atlantic University, 2010.|Includes bibliography.|Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.|by Aaron D. Fisher.