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研究生：	籃昱任 Lan, Yu-Jen
論文名稱：	自主無人水上載具操控設計 Maneuvering Control Design of Unmanned Surface Vehicles with Uncertainties and Disturbances
指導教授：	陳永裕 Chen, Yung-Yue
學位類別：	碩士 Master
系所名稱：	工學院 - 系統及船舶機電工程學系 Department of Systems and Naval Mechatronic Engineering
論文出版年：	2021
畢業學年度：	109
語文別：	英文
論文頁數：	93
中文關鍵詞：	無人水面載具、追蹤與操縱、H∞/H2混合型PID類控制器、極點區域約束、控制力道約束、適應性類神經控制、滑動平面控制、線性矩陣不等式
外文關鍵詞：	Unmanned surface vehicle, Path maneuvering, Mixed H∞/H2 PID type controller, Regional pole constraints, Control action constraints, Adaptive neural network control, Sliding-mode control, Linear matrix inequality (LMI)
相關次數：	點閱：111 下載：0
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中文摘要	ii
Abstract	iii
誌謝	iv
Contents	v
List of Tables	viii
List of Figures	ix
Nomenclatures	xi
Chapter 1 Introduction and Literature Review	1
Chapter 2 Model of USV	7
2.1 Reference Frame	7
2.1.1 Earth-Centered Frame	7
2.1.2 Geographic Frame (Earth Frame)	8
2.1.3 Body-Fixed Frame	9
2.2 Model of USV in Body-Fixed Frame Prospective	10
2.3 Model of USV in Earth Frame (Geographic Frame) Perspective	11
2.4 Model of Environmental Disturbances	12
2.4.1 Ocean Current	12
2.4.2 Wind	15
2.4.3 Wave	17
Chapter 3 Guidance and Trajectory Generator	22
3.1 Guidance System	22
3.1 Trajectory Generator	22
Chapter 4 Control Design Objectives of USV and Problem Formulation	29
4.1 Tracking Error Dynamic of USV	29
4.2 Refinement on Tracking Error of Heading Angle	31
4.3 Tracking Performance and Constraint	33
4.2.1   Tracking Performance	34
4.2.2   Tracking performance	34
4.2.3 Regional Pole Constraints	35
4.2.3 Constraints on Magnitude of Control Action	35
Chapter 5 Maneuvering Control Design of USV	36
5.1 Neural Network Compensator and Sliding-mode Compensator	36
5.2 Maneuvering Control Design via LMI Formulation	41
5.2.1 Control Design with   Tracking Performance	41
5.2.2 Control Design with   Tracking Performance	43
5.2.3 Control Design with Regional Pole Constraints	46
5.2.4 Control Design with Control Action Constraints	47
5.3 Multi-objective PID type Maneuvering Control Design of USV with Uncertainty and Disturbance	50
5.3.1   PID type Maneuvering Control Design with Constraints	50
5.3.2   PID type Maneuvering Control Design with Constraints	50
Chapter 6 Power Allocation of USV	52
Chapter 7 Simulation and Result	55
7.1 Setting of Simulation	55
7.1.1 Setting of Unmanned Surface Vehicle	55
7.1.2 Setting of External Environment Disturbances	56
7.1.3 Setting of Desired Trajectory	56
7.1.4 Setting of Control Parameters	57
7.2 Result and Discussion	62
Chapter 8 Conclusion	78
Chapter 9 Future Work	79
Reference	84
Appendix I: Parameters of Unmanned Surface Vehicle	89
Appendix II: Parameters of Environmental Disturbance	90
Appendix III: Waypoints for Trajectory	92
Appendix IV: Parameters of Power Allocation and Inequality of Arc Tangent	93
                                    

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