Station-keeping control of an unmanned surface vehicle exposed to current and wind disturbances
Field trials of a 4 m long, 180 kg, unmanned surface vehicle (USV) have been conducted to
evaluate the performance of station-keeping heading and position controllers in an outdoor …
evaluate the performance of station-keeping heading and position controllers in an outdoor …
Control of an unmanned surface vehicle with uncertain displacement and drag
WB Klinger, IR Bertaska… - IEEE Journal of …, 2016 - ieeexplore.ieee.org
Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate
the performance of two low-level controllers when displacement and drag properties are …
the performance of two low-level controllers when displacement and drag properties are …
Dynamics-aware target following for an autonomous surface vehicle operating under COLREGs in civilian traffic
We present a model-predictive trajectory planning algorithm for following a target boat by an
autonomous unmanned surface vehicle (USV) in an environment with static obstacle …
autonomous unmanned surface vehicle (USV) in an environment with static obstacle …
Development of a USV station-keeping controller
EI Sarda, IR Bertaska, A Qu… - OCEANS 2015 …, 2015 - ieeexplore.ieee.org
The ability of unmanned surface vehicles (USVs) to maintain a fixed orientation and position
for an extended period of time is essential for a variety of applications such as acoustic and …
for an extended period of time is essential for a variety of applications such as acoustic and …
[图书][B] Wind feed-forward control of a USV
Since Unmanned Surface Vehicles (USVs) are relatively light weight and have a large
windage area, they are sensitive to wind disturbances, especially during station-keeping …
windage area, they are sensitive to wind disturbances, especially during station-keeping …
Experimental evaluation of approach behavior for autonomous surface vehicles
IR Bertaska, J Alvarez… - Dynamic …, 2013 - asmedigitalcollection.asme.org
This article presents an experimental assessment of an Unmanned Surface Vehicle (USV)
executing an approach behavior to several stationary targets in an obstacle field. A lattice …
executing an approach behavior to several stationary targets in an obstacle field. A lattice …
Experimental testing of an adaptive controller for USVs with uncertain displacement and drag
WB Klinger, IR Bertaska… - 2014 Oceans-St …, 2014 - ieeexplore.ieee.org
The automatic launch and recovery of an AUV from a USV presents a challenging control
problem because control parameters are chosen based on the dynamics of the vehicle …
problem because control parameters are chosen based on the dynamics of the vehicle …
[图书][B] Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag
WB Klinger - 2014 - search.proquest.com
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 …
is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented …