A Modeling Framework for Six Degree-of-Freedom Control of Unmanned Sea Surface Vehicles

@article{Krishnamurthy2005AMF,
  title={A Modeling Framework for Six Degree-of-Freedom Control of Unmanned Sea Surface Vehicles},
  author={Prashanth Krishnamurthy and Farshad Khorrami and Shigenori Fujikawa},
  journal={Proceedings of the 44th IEEE Conference on Decision and Control},
  year={2005},
  pages={2676-2681}
}
A detailed six degree-of-freedom (DOF) nonlinear dynamic model of an Unmanned Sea Surface Vehicle (USSV) is developed. Models of the significant hydrodynamic effects including radiation-induced and damping forces and moments are incorporated. Disturbance models of forces and moments caused by ocean currents, waves, and wind are also included. Detailed models of the actuators including thrusters/propellers and control surfaces are included. To illustrate the importance of a six DOF modeling and… CONTINUE READING

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