2026-09-19T04:33:59Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/688342022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Franz Hover.
Doroski, Adam D
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2012-01-30T16:53:55Z
2012-01-30T16:53:55Z
2011
2011
http://hdl.handle.net/1721.1/68834
772529621
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references.
Precision positioning of an unmanned surface vehicle (USV) in a nautical environment is a difficult task. With a dual azimuthing thruster scheme, the optimization of thruster outputs uses an online method to minimize the amount of error. It simplifies necessary calculations by the assumption that the rotating thrusters are always parallel thus making the system holonomic. The scheme accommodates for limitations in actuator outputs, including rotation limits and time-lagged thrusts and was implemented in a MATLAB simulation that tested its response to step errors and disturbance forces, similar to what it would encounter in actual implementation. It successfully achieved commanded outputs in all three degrees of freedom, typically within 25 seconds. It also rejects constant and sinusoidal disturbance forces. However, specific configurations arise where the USV, at times, is uncontrollable and the system only recovers after being further perturbed into a controllable configuration.
by Adam D. Doroski.
S.B.
41 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Precision stationkeeping with azimuthing thrusters
Thesis
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<Abstract>Precision positioning of an unmanned surface vehicle (USV) in a nautical environment is a difficult task. With a dual azimuthing thruster scheme, the optimization of thruster outputs uses an online method to minimize the amount of error. It simplifies necessary calculations by the assumption that the rotating thrusters are always parallel thus making the system holonomic. The scheme accommodates for limitations in actuator outputs, including rotation limits and time-lagged thrusts and was implemented in a MATLAB simulation that tested its response to step errors and disturbance forces, similar to what it would encounter in actual implementation. It successfully achieved commanded outputs in all three degrees of freedom, typically within 25 seconds. It also rejects constant and sinusoidal disturbance forces. However, specific configurations arise where the USV, at times, is uncontrollable and the system only recovers after being further perturbed into a controllable configuration.</Abstract>
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