Modeling and Control of Unmanned Trimaran Vehicles

Yan Peng; Mei Liu; Qing Jiu Huang; Jun Luo

doi:10.4028/www.scientific.net/AMM.43.541

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Modeling and Control of Unmanned Trimaran Vehicles
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 43Modeling and Control of Unmanned Trimaran Vehicles

Modeling and Control of Unmanned Trimaran Vehicles

Abstract:

The modeling and sea trials of the Unmanned Trimaran Vehicles (UTSV) are presented in this paper. For control design, six DOF dynamic modeling of autonomous Trimarans is presented. The detailed mathematical modeling is intended to provide the appropriate framework for a control design which explicitly addressed the six DOF UTV dynamics. A control system was developed based on backstepping to guide the vessel to track desired trajectories based on the input of the sensors. Physical experiments were conducted to determine the maneuvering property of UTV.

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Periodical:

Applied Mechanics and Materials (Volume 43)

Pages:

541-545

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.43.541

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Online since:

December 2010

Authors:

Yan Peng, Mei Liu, Qing Jiu Huang, Jun Luo

Keywords:

Backstepping, Dynamic Modeling, Unmanned Trimaran Vehicles (UTV)

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