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UM E-Theses Collection (澳門大學電子學位論文庫)

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Title

Robust motion control of underactuated autonomous surface craft

English Abstract

Robust Motion Control of Underactuated Autonomous Surface Craft by Wei Xie Thesis Supervisors: Prof. Carlos Silvestre Prof. Qingsong Xu This thesis addresses the problems of path following and trajectory tracking. By employing the backstepping technique, path following controllers are applied to an underactuated autonomous surface craft, named DELMAC and an underactuated hovercraft. The proposed control laws are capable of driving the vehicles towards, and stay within the neighborhood of a desired path with a desired speed profile, achieving globally practical stability. Using similar methodology, a trajectory tracking control strategy was developed and applied to a model hovercraft. Furthermore, in order to validate the efficacy and performance of the controllers proposed in this thesis, simulations and experimental results are presented.

Issue date

2016

Author

Xie, Wei

Faculty

Faculty of Science and Technology

Degree

M.Sc.

Subject

Motion control devices

Mechanical engineering

Electromechanical Engineering -- Department of Electromechanical Engineering

Supervisor

Silvestre, Carlos (Carlos Jorge Ferreira)

Xu, Qing Song

Files In This Item

Full-text (Intranet)

Location
1/F Zone C
Library URL
991001930219706306