A Model-Based Speed and Course Controller for High-Speed ASVs. Issue 29 (2018)

• Record Type: Journal Article
• Authors: Eriksen, Bjørn-Olav H.; Breivik, Morten
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 29(2018)
• Page Start: 317
• Page End: 322
• Publication Date: 2018
• Subjects: Model-based control -- autonomous surface vehicles -- high-speed motion control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.09.504
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Well-performing low-level vessel controllers are a necessity for marine motion control applications such as path following, trajectory tracking and collision avoidance for autonomous surface vehicles (ASVs). Designing such controllers are especially challenging for high-speed vessels operating in both the displacement, semi-displacement and planing regions. In this article, we build on a powerful framework for modeling, identification and control of high-speed ASVs in order to develop a model-based speed and course controller with high performance. The controller is shown to outperform a gain-scheduled proportional-integral feedback controller in full-scale experiments in the Trondheimsfjord, Norway. The controllers are compared both qualitatively and quantitatively using suitable performance metrics.