Nikolaos I Xiros1* and Eleftherios K Loghis2
1The university of New Orleans, B. Bollinger School of Naval Architecture and Marine Engineering, New Orleans, Louisiana, United States
2National Technical University of Athens, School of Electrical and Computer Engineering, Athens, Greece
*Corresponding Author: Nikolaos I Xiros, The university of New Orleans, B. Bollinger School of Naval Architecture and Marine Engineering, New Orleans, Louisiana, United States.
Received: December 14, 2021; Published:
The scale model of a surface watercraft unit with electric propulsion using a dc motor and waterjet has been developed. A dynamic model capable to adequately describe the motion of the vehicle under a variety of conditions is also developed by combining basic principles with data series obtained through a series of field experiments. The aim is to minimize the number and cost of sensors needed in this end, without unacceptably compromising accuracy, by employing knowledge of vehicle dynamics in order to form a customized gray-box modeling approach. A set of nonlinear differential equations are derived, that can be used to describe the behavior of the marine vehicle at hand. This dynamic model will form the basis for applying physicomimetic approaches to control and navigation of a standalone or swarm of similar vehicles. In the physicomimetic control law synthesis approach, the control problem is tackled by the concept of virtual forces acting on the vehicle and in result generating motion patterns that are desired in a certain application, e.g. avoid obstacles and collisions. To achieve physicomimetic control it is required to effectively cancel the actual dynamics or physics to which each craft unit’s motion complies with and then impose the desired dynamics through virtual forces. In the present work, as first step, a series of open loop experiments allow us developing the actual dynamics of vehicle motion.
Keywords: Dynamics; Scale Model; Unmanned Surface Vehicles (USVs)
Citation: Nikolaos I Xiros and Eleftherios K Loghis. “Continuous and Discrete-time Models of Surface Watercraft Nonlinear Dynamics". Acta Scientific Computer Sciences 4.5 (2022): 00-00.
Copyright: © 2022 Nikolaos I Xiros and Eleftherios K Loghis. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.