L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft

This work addresses the issue of designing an adaptive robust control system to govern the steering of a high speed unmanned personal watercraft (PWC) maintaining equal performance across the craft's envelope of operation. The maneuvering dynamics of a high speed PWC is presented and a strong variation over the envelope of operational conditions, including speed, is highlighted. The complexity of the nonlinear dynamics is overcome through identification of linear models at different speed regimes. A gray-box identification is conducted from full scale experiments and results in a four degrees-of-freedom surge-sway-yaw-roll model. An L1 adaptive autopilot is then designed, which allows to achieve fast adaption to system parameters’ changes and robustness of the closed loop system.