Dynamic modelling and control of a portable USV for bathymetric survey
Document Type
Conference Proceeding
Date of Original Version
10-5-2020
Abstract
The dynamic modelling and path following control of a stand up paddle board based unmanned surface vessel, of the type appropriate for bathymetric survey applications, are presented. The dynamic model is based on a 3.35 m (11 foot) inflatable paddle board weighing 15.5 kg (including instrumentation and propulsion system). A super-twisting path following control system is designed to mitigate wind-induced disturbances anticipated to affect a vehicle in the field, and which are expected to be exacerbated by the vessel's low draft, light weight and high windage area. The performance of the system is investigated using simulations of the vehicle following a lawn mower shaped path within an 80\ \mathrm{m}\times 80\ \mathrm{m} area. The proposed path following controller is shown to be robust to disturbances that have a magnitude of up to about a third of the total thrust available, and which change rapidly (wind gusts).
Publication Title, e.g., Journal
2020 Global Oceans 2020: Singapore - U.S. Gulf Coast
Citation/Publisher Attribution
Von Ellenrieder, Karl D., Helen C. Henninger, and Stephen Licht. "Dynamic modelling and control of a portable USV for bathymetric survey." 2020 Global Oceans 2020: Singapore - U.S. Gulf Coast (2020). doi: 10.1109/IEEECONF38699.2020.9389412.