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日期：2024-11-08 10:49

Simulation Assignment: Control (Individual)

Contents

Submission

Assignment

Submission

Deadline: 23:00 Thursday 14th November via Turnitin

Report (4xA4 pages max, pdf or word) AND supplementary material (Jupyter notebooks/annotated codes) AND

GenAI Declaration Form

Assignment

Task 1) Model an AUV with two differential surge propellers and provide a sketch of the AUV that shows its key

dimensions. Provide a table detailling the parameters needed to model its dynamics. Describe the equations and

assumptions used to determine these parameters, and the sensors you would use to overcome deficiencies in your

model. [4/30 marks]

Task 2) For the AUV you defined in Task 1, generate a trajectory for a lawnmowever survey that covers a region of

50x50m with a spacing between parallel lines of 2m. Provide a table with your assumed forward speed, angular rate,

turning circle and the waypoint acceptance radius. Justify your choice of values for each parameter, fully explaining the

assumption you make on AUV manouvrability. Estimate how long the mission will take. Provide figures of both your

original waypoints and the trajectories you generated. Explain the methods used to generate these. [4/30 marks]

Task 3) Implement state space control for the AUV you defined in Task 1 following the method taught in the module.

Show the trajectories for these as a Northings, Eastings plot, together with the twist and thruster force command time

histories. Repeat these for at least three different gain parameters, and identify the gain parameters you would chose in a

final application, providing evidence to justify your choice of parameters. [12/30 marks]

Task 4) Describe the limitations of the state-space control method you implemented in Task 3). Refer to the following

paper and at least 2 other journal papers that present methods that address the limitations you identified in your

implemented approach.

Gonzalez-Garcia, Alejandro, Castaneda, Herman, Guidance and Control Based on Adaptive Sliding Mode Strategy for a

USV Subject to Uncertainties (2021) IEEE Journal of Oceanic Engineering, 46 (4), pp. 1144 - 1154, DOI:

10.1109/JOE.2021.3059210

Explain how these methods can offer benefits over your implemented approach. 500 word limit. [10/30 marks]

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