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Path Following of Underactuated Catamaran Surface Vessel (WAM-V) Using Fuzzy Waypoint Guidance Algorithm

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Proceedings of SAI Intelligent Systems Conference (IntelliSys) 2016 (IntelliSys 2016)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 16))

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Abstract

In this paper, a waypoint tracking algorithm is developed for dealing with catamaran type of vessel called Wave Adaptive Modular Vessel (WAM-V) and this paper further proposes a PID differential thrust control of a manoeuvring WAM-V. This control design greatly simplifies the control design process and easily applied to underactuated twin hull and twin propeller vessels such as WAM-V. The WAM-V is controlled by differential thrust for surge and yaw motion control; is an underactuated vehicle. The fuzzy control rules are constructed based on the human operator’s experience. The nomotos model derived from MMG mathematical model is developed to represent the WAM-V dynamics. The model and control algorithm are simulated using MATLAB and results are presented. The suggested fuzzy waypoint guidance control algorithm has shown good performance in terms of accuracy to track the waypoints.

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Author information

Authors and Affiliations

  1. Department of Naval Architecture and Ocean Engineering, Osaka University, 2-1, Yamadaoka, Suita, Osaka, Japan

    Jyotsna Pandey & Kazuhiko Hasegawa

Authors
  1. Jyotsna Pandey
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  2. Kazuhiko Hasegawa
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Corresponding author

Correspondence to Jyotsna Pandey .

Editor information

Editors and Affiliations

  1. Faculty of Computing and Engineering, School of Computing and Mathematics, University of Ulster at Jordanstown, Newtownabbey, United Kingdom

    Yaxin Bi

  2. The Science and Information (SAI) Organization, Bradford, West Yorkshire, United Kingdom

    Supriya Kapoor

  3. The Science and Information (SAI) Organization, Bradford, West Yorkshire, United Kingdom

    Rahul Bhatia

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Pandey, J., Hasegawa, K. (2018). Path Following of Underactuated Catamaran Surface Vessel (WAM-V) Using Fuzzy Waypoint Guidance Algorithm. In: Bi, Y., Kapoor, S., Bhatia, R. (eds) Proceedings of SAI Intelligent Systems Conference (IntelliSys) 2016. IntelliSys 2016. Lecture Notes in Networks and Systems, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-56991-8_45

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  • DOI: https://doi.org/10.1007/978-3-319-56991-8_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-56990-1

  • Online ISBN: 978-3-319-56991-8

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