Projeto e alocação de controle de uma embarcação autônoma de superfície com 3 DoF e sistema de propulsão aéreo azimutal

Abstract

In addition to the large part of its borders being bathed by the Atlantic Ocean, Brazil has a great number of rivers and lakes along its territory. The constant monitoring of its hydrographic basins is of great importance since the water can be used for: environmental preservation, energy generation, urban supply, irrigation, transport, fishing, etc. In this way, the automation and improvement of monitoring and data collection techniques proves to be great allies in reducing the cost and increasing the reliability of these processes. In this context, this work aims to present a control allocation of a new surface autonomous vessel topology - ac asv overrun for monitoring waterway networks in general. The allocation technique uses the decoupling of nonlinear systems into multiple linearized subsystems, allowing fast processing and meeting the imposed restrictions. The vehicle has as an application differential being less invasive in the collection collected by water sensors and presenting greater versatility for navigation in different environments. As a constructive differential, it is based on a catamaran-type structure and has its set of thrusters positioned on top of the hulls with azimuthal direction in 360-degrees, making it a vehicle with the capacity to move in three degrees of freedom. The implemented techniques and the characteristics that differ from the other topologies are validated through simulations and real tests, where the performances of the allocation of allocation can be observed through the non-intrusive performance indexes IAE and ISE control and position control.