Joystick Steering in Recreational Boats Using L1 Adaptive Control
Document Type
Article
Publication Date
6-2020
Publisher
American Society of Mechanical Engineers (ASME)
Source Publication
Journal of Dynamic Systems, Measurement and Control
Source ISSN
0022-0434
Original Item ID
DOI: 10.1115/1.4046113
Abstract
This paper addresses the challenge of commissioning recreational boats with joystick control systems when the boat's physical parameters are not known. The work was conducted through matlab simulations and scale-model physical testing. The outcome is a working nonlinear, closed-loop control methodology shown on a small-scale prototype boat. The control methodology, L1 adaptive control (L1AC), provides adaptive velocity and angular velocity control. The control system delivers performance levels that could reduce the cost of commissioning boats with joystick control, improve overall performance, and potentially enable the technology to support new boat markets.
Recommended Citation
Bayless, John A. and Voglewede, Philip A., "Joystick Steering in Recreational Boats Using L1 Adaptive Control" (2020). Mechanical Engineering Faculty Research and Publications. 344.
https://epublications.marquette.edu/mechengin_fac/344
Comments
Journal of Dynamic Systems, Measurement and Control, Vol. 142, No. 6 (June 2020). DOI.