Modeling, identification and control of a Boat Parking Assistance system

In this paper, the problem of designing a Boat Parking Assistance (BPA) system for a small-scale vessel is addressed. A control-oriented model is derived from the physics underlying the system and gray-box identification is carried out by designing suitable experiments. A 3 DOF cascade control schem...

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Bibliographic Details
Published in2013 European Control Conference (ECC) pp. 3012 - 3017
Main Authors Berretta, D., Urbano, N., Formentin, S., Boniolo, I., De Filippi, P., Savaresi, S. M.
Format Conference Proceeding
LanguageEnglish
Published EUCA 01.07.2013
Subjects
Actuators
Boats
Dynamics
Mathematical model
Propellers
Surges
Transfer functions
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Summary:In this paper, the problem of designing a Boat Parking Assistance (BPA) system for a small-scale vessel is addressed. A control-oriented model is derived from the physics underlying the system and gray-box identification is carried out by designing suitable experiments. A 3 DOF cascade control scheme is then implemented to achieve semi-automatic parking and station-keeping. The latter is also shown to be a solid groundwork for future research on fully automatic maneuvering. The proposed strategy is finally tested on stationkeeping and parking of a real vessel.
DOI:10.23919/ECC.2013.6669649