Control design for unmanned sea surface vehicles: hardware-in-the-loop simulator and experimental results

Krishnamurthy, P.; Khorrami, Farshad; Ng, Tzer Leei

doi:10.1109/iros.2007.4399619

Cited by 12 publications

(7 citation statements)

References 13 publications

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“…Besides significant reduction in the overall cost, the technique can effectively eliminate many of the risks involved in conventional testing [1,2]. Not surprisingly, HILS has been successfully adapted by many engineering fields including electrical machinery/power electronics [3][4][5], automotive [6,7], robotics [8,9], aerospace [10,11], and more.…”

Section: Introductionmentioning

confidence: 99%

A new hardware-in-the-loop simulator for CNC machine applications

Usenmez

Mutlu

Yaman

et al. 2013

2013 IEEE International Conference on Mechatronics (ICM)

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This study focuses on an integrated software and hardware platform that is capable of performing (real-time/nonreal-time) hardware-in-the-loop simulation of dynamic systems, including electrical machinery, CNC machine tools. In this approach, once the dynamics of the plant to be controlled is defined via C++ language, the resulting code is cross-compiled automatically on a PC. Executable files along with the necessary drivers are downloaded onto the composite hardware platform that consists of a Field Programmable Gate Array (FPGA) along with a powerful DSP board. The paper elaborates the overall performance of this novel hybrid HILS platform on a CNC machine tool application. Index Terms-Hardware in the Loop Simulation, CNC MachineSystems, Field Programmable Gate Arrays.

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Section: Introductionmentioning

confidence: 99%

A new hardware-in-the-loop simulator for CNC machine applications

Usenmez

Mutlu

Yaman

et al. 2013

2013 IEEE International Conference on Mechatronics (ICM)

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“…However, only a proportional-integral control law with backstepping is presented without a stability proof. This work was continued in [2] where the control law was successfully implemented in a hardware-in-the-loop environment for a way-point type experiment although with some error. Another exception is Li et.…”

Section: Introductionmentioning

confidence: 99%

Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles

Ashrafiuon

Muske

McNinch

2010

Proceedings of the 2010 American Control Conference

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A review of different approaches to setpoint, trajectory tracking, and path following control for autonomous underactuated surface vessels is presented in this work. The review is focused on rigorous control approaches developed using planar autonomous surface vessel models over approximately the last two decades. The controllers are categorized into setpoint, trajectory tracking, and path following approaches with further classification into discontinuous and smooth timevarying control laws for the setpoint control approaches. An overview of the formulation, advantages, and disadvantages of each approach is presented. Although much progress has been made in autonomous underactuated surface vessel control, there remains a need for the evolution of these approaches to achieve robust, real-time control laws that can be implemented on actual autonomous Unmanned Surface Vessel (USV) platforms in the presence of high sea states and external disturbances in uncertain and unstructured environments.

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“…The MSNS is designed with a modular architecture incorporating two core subsystems: (a) USSV-NAV, a high-performance robust tracking and stabilization control system; (b) USSV-CAS, a computationally efficient real-time Collision Avoidance System (CAS) comprised of a hierarchical combination of path planning and obstacle avoidance algorithms. The USSV-NAV design utilizes a robust nonlinear dynamic controller [8] based on a six degree of freedom (6DOF) nonlinear dynamic model for USSVs taking into consideration disturbances due to waves, wind, and ocean currents and addresses multiple control objectives including trajectory/waypoint tracking and stabilization. The USSV-CAS, which provides a path planning and obstacle avoidance system (OAS) is designed with a hierarchical architecture incorporating graph-search based wide area and intermediate area planners and a GODZILA-based local area planner [15] to yield computationally efficient and robust planning and obstacle avoidance in complex uncertain cluttered environments.…”

Section: Introductionmentioning

confidence: 99%

“…The MSNS has also been demonstrated on experimental USSV testbeds. The development of the HITL platform for testing of the obstacle avoidance system is based on the 6DOF USSV dynamic model in [7] and the controls-oriented HITL testbed in [8], [9] which offers an emulation of the instrumentation onboard the USSV including sensors and actuators and the interface to these hardware components through a Controller Area Network (CAN) bus. The HITL simulation platform described in this paper additionally incorporates a detailed model of a Radar system and its interface characteristics to provide the computer which runs the controls and obstacle avoidance software with the exact environment which it sees when operating in the experimental USSV testbed.…”

Section: Introductionmentioning

confidence: 99%

“…The hierarchical path planning and obstacle avoidance module provides commands to the USSV-NAV subsystem which consists of a bank of inner-loop nonlinear control algorithms that address tracking and stabilization objectives. USSV-NAV provides a highperformance stabilization and tracking control system based on a multi-loop gain-scheduled control architecture utilizing a nonlinear backstepping-based control design [8].…”

Section: Introductionmentioning

confidence: 99%

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A hierarchical control and obstacle avoidance system for Unmanned Sea Surface Vehicles

Krishnamurthy

Khorrami

2011

IEEE Conference on Decision and Control and European Control Conference

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In this paper, the development of a hierarchical control, path planning, and obstacle avoidance system for autonomous operation of Unmanned Sea Surface Vehicles (USSVs) in uncertain cluttered environments (e.g., littoral environments) is described. The system is designed with a modular structure incorporating a robust inner-loop controller and a hierarchical combination of wide-area, intermediate-area, and localarea planning and obstacle avoidance algorithms. The performance of the proposed system has been demonstrated through Hardware-In-The-Loop (HITL) and experimental tests. The HITL simulation platform incorporates detailed dynamics of the USSV including hydrodynamic effects as well as emulation of sensors and instrumentation onboard the USSV including Radar. The HITL platform can simultaneously simulate multiple USSVs and passive obstacles and provides the computer which runs the controls and obstacle avoidance algorithms with the exact environment which it sees when operating in the experimental USSV testbed.

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Control design for unmanned sea surface vehicles: hardware-in-the-loop simulator and experimental results

Cited by 12 publications

References 13 publications

A new hardware-in-the-loop simulator for CNC machine applications

A new hardware-in-the-loop simulator for CNC machine applications

Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles

A hierarchical control and obstacle avoidance system for Unmanned Sea Surface Vehicles

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