Discovery Projects - Grant ID: DP0453294

Funding Activity

Website
https://dataportal.arc.gov.au/NCGP/Web/Grant/Grant/DP0453294

Funding Status
Closed

Does something not look right? The information on this page has been harvested from data sources that may not be up to date. We continue to work with information providers to improve coverage and quality. To report an issue, use the .

Funded Activity Summary

DEVELOPMENT OF NEW NONLINEAR CONTROLLERS FOR TRAJECTORY TRACKING AND PATH-FOLLOWING OF UNDERACTUATED OCEAN VEHICLES. Trajectory tracking control and path-following of underactuated ocean vehicles are not only of theoretical challenging but also important practice. This project is firstly to develop methodologies to design full-state feedback controllers to force the underactuated ocean vehicles including surface ships and underwater vehicles with off-diagonal terms in their system matrices to track reference trajectories generated by virtual vehicles, and to follow a predefined path with a desired forward speed. Secondly, we develop methods to design observers to estimate the unmeasured states (velocities) of the vehicles and incorporate with the full-state feedback controllers to have output-feedback observer-based controllers. Lastly, the proposed control design methods are extended to a certain class of underactuated mechanical systems.

Funded Activity Details

Start Date: 01-01-2004

End Date: 31-12-2007

Funding Scheme: Discovery Projects

Funding Amount: $221,466.00

Funder: Australian Research Council

Research Topics

ANZSRC Field of Research (FoR)

Dynamical Systems | Applied Mathematics | Systems Theory And Control |

ANZSRC Socio-Economic Objective (SEO)

Navy | Transport | International sea transport

Other Keywords

Applied Mathematics | Dynamical Systems | International sea transport | Navy | Systems Theory And Control | Transport

Related Links