Date of Award
2014
Document Type
Thesis
Publication Status
Version of Record
Submission Date
October 2026
Thesis/Dissertation Advisor [Chair]
von Ellenrieder, Karl
Abstract
The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping method and a model reference adaptive controller are developed and ultimately compared through experimental testing against a previously developed control law. Experimental tests show that the adaptive speed control law outperforms the non-adaptive alternatives by as much as 98% in some cases; however heading control is slightly sacrificed when using the adaptive speed approach. It is found that the adaptive control law is the best alternative when drag and mass properties of the vessel are time-varying and uncertain.
Extent
122 p.
Recommended Citation
Klinger, Wilhelm B., "Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag" (2014). Electronic Theses and Dissertations 2010 - 2019. 926.
https://digitalcommons.fau.edu/etd_general_6/926
Identifier
FA00004130
Comments
Includes bibliography.|Thesis (M.S.)--Florida Atlantic University, 2014.|FAU Electronic Theses and Dissertations Collection|Includes bibliography.