Print Email Facebook Twitter Roboat Formation Control Title Roboat Formation Control: Sailing in Formation for Waste Transport using Roboat units Author van Pampus, M.J. (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Reppa, V. (mentor) Haseltalab, A. (mentor) Garofano, V. (mentor) Deinema, Y.H. (graduation committee) Ferranti, L. (graduation committee) Negenborn, R.R. (graduation committee) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Transport Engineering and Logistics Date 2020-07-14 Abstract Formation control of autonomous surface vessels (ASVs) is researched extensively in the last years, since it has promising applications. However very few designed strategies have been validated during real experiments. In this research, twocontrol methods for distributed leader-follower formation control are proposed: A Nonlinear Model Predictive Control (NMPC) method and an MPC method using Feedback Linearization (FL). These two designed methods are compared with a conventional Proportional-Integral (PI) control method. The performance of the proposed strategies is evaluated through simulations and real experiments using small-scale Roboat units. Both designed control methods outperform the conventional PI control method in simulation and real experiments. Subject Autonomous Surface VesselsModel Predictive ControlFeedback LinearizationFormation Control To reference this document use: http://resolver.tudelft.nl/uuid:e868a3bb-cf7e-416b-a118-684c653eb079 Part of collection Student theses Document type master thesis Rights © 2020 M.J. van Pampus Files PDF 2020MME8441_Roboat_Format ... Pampus.pdf 16.2 MB Close viewer /islandora/object/uuid:e868a3bb-cf7e-416b-a118-684c653eb079/datastream/OBJ/view