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dc.contributor.authorDo, Khac Duc
dc.date.accessioned2017-01-30T14:54:38Z
dc.date.available2017-01-30T14:54:38Z
dc.date.created2015-10-29T04:09:27Z
dc.date.issued2015
dc.identifier.citationDo, K.D. 2015. Control of fully actuated ocean vehicles under stochastic environmental loads in three dimensional space. Ocean Engineering. 99: pp. 34-43.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/41702
dc.identifier.doi10.1016/j.oceaneng.2015.03.005
dc.description.abstract

Although environmental loads induced by waves, wind, and ocean currents on ocean vehicles are naturally stochastic, all existing works on controlling these vehicles treat the loads as deterministic. This treatment deteriorates the control performance or even results in an unstable closed loop system in a practical implementation. This paper presents a method to design controllers that force a fully actuated ocean vehicle under stochastic environmental loads to track a reference trajectory in three dimensional space. The control design is based on several recent results developed for stability and control of stochastic systems, and backstepping and Lyapunov׳s direct methods. The modified Rodrigues parameters are used for the attitude representation of the vehicle to reduce singularities in comparison with the use of Euler-angles and Rodrigues parameters. Simulations on an omni-directional intelligent navigator illustrate the results.

dc.publisherPERGAMON-ELSEVIER SCIENCE LTD
dc.titleControl of fully actuated ocean vehicles under stochastic environmental loads in three dimensional space
dc.typeJournal Article
dcterms.source.volume99
dcterms.source.startPage34
dcterms.source.endPage43
dcterms.source.issn0029-8018
dcterms.source.titleOCEAN ENGINEERING
curtin.departmentDepartment of Mechanical Engineering
curtin.accessStatusFulltext not available


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