Simplified model characterization and control of an unmanned surface vehicle
This study presents the design, modelling and control of the unmanned surface vehicle (USV) SÁBALO, which has been developed to operate effectively in complex riverine and maritime environments. Two control strategies were evaluated and contrasted: independent loop control with a decoupler and state...
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| Tipo de recurso: | tesis de maestría |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2024 |
| País: | Colombia |
| Institución: | Universidad de los Andes |
| Repositorio: | Séneca: repositorio Uniandes |
| Idioma: | inglés |
| OAI Identifier: | oai:repositorio.uniandes.edu.co:1992/75261 |
| Acceso en línea: | https://hdl.handle.net/1992/75261 |
| Access Level: | acceso abierto |
| Palabra clave: | Unmanned surface vehicles Modeling Multivariable control by decoupling State feedback Ingeniería |
| Sumario: | This study presents the design, modelling and control of the unmanned surface vehicle (USV) SÁBALO, which has been developed to operate effectively in complex riverine and maritime environments. Two control strategies were evaluated and contrasted: independent loop control with a decoupler and state feedback control. Experiments and simulations demonstrated that the decoupler effectively eliminated variable interaction, thereby enhancing stability in straight trajectories and directional changes. In contrast, state feedback control demonstrated markedly faster response times and superior precision in intricate manoeuvres, although this was accompanied by a higher energy consumption. Integral absolute error indices demonstrated a reduction in deviations from desired trajectories of up to 40% in adverse conditions. The study concludes that both strategies are effective, but their suitability depends on the mission. The decoupler is ideal for energy-efficient, long-duration operations, while state feedback is optimal for dynamic environments requiring rapid manoeuvres. This methodological framework contributes to optimizing USV operations, offering scalable and adaptable solutions for applications in oceanographic research, logistics, and maritime rescue. |
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