This is the Way: Mitigating the Roll of an Autonomous Uncrewed Surface Vessel in Wavy Conditions Using Model Predictive Control
Fuente:
arXiv
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866929477616926720 |
|---|---|
| author | Jenkins, Daniel L. Marshall, Joshua A. |
| author_facet | Jenkins, Daniel L. Marshall, Joshua A. |
| contents | Though larger vessels may be well-equipped to deal with wavy conditions, smaller vessels are often more susceptible to disturbances. This paper explores the development of a nonlinear model predictive control (NMPC) system for Uncrewed Surface Vessels (USVs) in wavy conditions to minimize average roll. The NMPC is based on a prediction method that uses information about the vessel's dynamics and an assumed wave model. This method is able to mitigate the roll of an under-actuated USV in a variety of conditions by adjusting the weights of the cost function. The results show a reduction of 39% of average roll with a tuned controller in conditions with 1.75-metre sinusoidal waves. A general and intuitive tuning strategy is established. This preliminary work is a proof of concept which sets the stage for the leveraging of wave prediction methodologies to perform planning and control in real time for USVs in real-world scenarios and field trials. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_15349 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | This is the Way: Mitigating the Roll of an Autonomous Uncrewed Surface Vessel in Wavy Conditions Using Model Predictive Control Jenkins, Daniel L. Marshall, Joshua A. Robotics Systems and Control Though larger vessels may be well-equipped to deal with wavy conditions, smaller vessels are often more susceptible to disturbances. This paper explores the development of a nonlinear model predictive control (NMPC) system for Uncrewed Surface Vessels (USVs) in wavy conditions to minimize average roll. The NMPC is based on a prediction method that uses information about the vessel's dynamics and an assumed wave model. This method is able to mitigate the roll of an under-actuated USV in a variety of conditions by adjusting the weights of the cost function. The results show a reduction of 39% of average roll with a tuned controller in conditions with 1.75-metre sinusoidal waves. A general and intuitive tuning strategy is established. This preliminary work is a proof of concept which sets the stage for the leveraging of wave prediction methodologies to perform planning and control in real time for USVs in real-world scenarios and field trials. |
| title | This is the Way: Mitigating the Roll of an Autonomous Uncrewed Surface Vessel in Wavy Conditions Using Model Predictive Control |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2408.15349 |