Issue |
MATEC Web of Conferences
Volume 34, 2015
2015 2nd International Conference on Mechatronics and Mechanical Engineering (ICMME 2015)
|
|
---|---|---|
Article Number | 04005 | |
Number of page(s) | 4 | |
Section | Control theory and technology | |
DOI | https://doi.org/10.1051/matecconf/20153404005 | |
Published online | 11 December 2015 |
Development of Algorithms for Control of Motor Boat as Multidimensional Nonlinear Object
Southern Federal University, Rostov-on-Don, Russia
a Corresponding author: b.gurenko@outlook.com
In this paper authors develop and research system for motor boat control, that allows to move along the stated paths with the given speed. It is assumed, that boat is equipped by the measuring system that provides current coordinates, linear and angular velocities. Control system is based upon the mathematical model, presented earlier (see references). In order to analytically find the necessary controls, all equations were transformed to Jordan controllable form. Besides solution this transformation also allows to handle model nonlinearities and get required quality of movement along the stated paths. Control system includes algorithms for control of longtitudal velocity and boat course. Research of the proposed control system according to boat design limitations for the values of control variables was performed by simulation in MATLAB. Results of two experiments, different in value of the required velocity are discussed.
© Owned by the authors, published by EDP Sciences, 2015
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.