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Adaptive Control Of Joystick Steering In Recreational Boats, John Bayless
Adaptive Control Of Joystick Steering In Recreational Boats, John Bayless
Master's Theses (2009 -)
This thesis addresses the challenge of commissioning recreational boats with joystick control when the boat’s physical parameters are not known. The research was conducted by following a model-based, systems engineering approach which leveraged MATLAB simulations and scale-model physical testing. The outcome of the research is a working methodology using L1 Adaptive Control which provides fast adaption in a way that could reduce the cost of commissioning recreational boats with joystick control, improve the robustness of the final design, and potentially expand the accessible market to new boat types.