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The design, development, modeling and sea trials of the unmanned Trimaran surface vehicles (UTSV) are presented in this paper. Hardware and sensors for navigation, localization and obstacle avoidance was developed. Sensors were chosen to provide the necessary data for an autonomous controller for control design, six DOF dynamic modeling of autonomous Trimarans is presented. The detailed mathematical...
This paper proposes an adaptive unscented Kalman filter (UKF) based tracking controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave, wind and ocean-current. The controller development is based on MIT based UKF and backstepping techniques. The AUKF is used to update the estimation of the uncertain parameters online to avoid...
This paper focuses on the process of hardware selection in the design of an Unmanned Trimaran Surface Vehicle (UTSV) and a control scheme design of model-scaled UTSV. The controller development is based on Unscented Kalman Filter (UKF) and backstepping techniques. The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters' drift due to disturbances induced...
This paper proposes an unscented Kalman filter(UKF) based steering controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave, wind and ocean-current. By using Nomoto ship model with nonlinear maneuvering characteristics and backstepping design methodology, a nonlinear ship steering controller is designed successfully. The UKF...
This paper proposes an unscented Kalman filter (UKF) based tracking controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave, wind and ocean-current. The controller development is based on UKF and backstepping techniques. The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters' drift...
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