System identification and control of a sea surface vehicle

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2015

Öğrenci: İZZET KAĞAN ERÜNSAL

Danışman: MEHMET KEMAL LEBLEBİCİOĞLU

Özet:

In this study, modeling, system identification and controller design for a sea surface vehicle are performed to facilitate major goals such as autopilot design and guidance. The vehicle has been modeled by a combination of several approaches proposed in the literature. For system identification purposes, a time domain, offline, deterministic, gray-box methodology is developed. In this methodology, efficient optimization algorithms such as genetic algorithm (GA) and global search algorithm (GS) are utilized together for successful parameter identification. Finally, both a PID based piecewise controller and a Sliding Mode Controller (SMC) have been developed to control surge speed and yaw position of the vehicle. Performance comparisons of these controllers are also provided in both existence and absence of external disturbances. The model, the system identification methodology and the control structure have all been verified and validated through simulations. The developed simulation environment consists of six degrees of freedom nonlinear mathematical model of the vehicle derived using Newton-Euler equations. The experimental test bed used for the model validation and the system identification, on the other hand, is inclusive of a model vehicle and auxiliary hardware such as a fully equipped autopilot card and an external computer acting as a master on that.