DEVELOPMENT OF NEW NONLINEAR CONTROLLERS FOR TRAJECTORY TRACKING AND PATH-FOLLOWING OF UNDERACTUATED OCEAN VEHICLES. Trajectory tracking control and path-following of underactuated ocean vehicles are not only of theoretical challenging but also important practice. This project is firstly to develop methodologies to design full-state feedback controllers to force the underactuated ocean vehicles including surface ships and underwater vehicles with off-diagonal terms in their system matrices to tr ....DEVELOPMENT OF NEW NONLINEAR CONTROLLERS FOR TRAJECTORY TRACKING AND PATH-FOLLOWING OF UNDERACTUATED OCEAN VEHICLES. Trajectory tracking control and path-following of underactuated ocean vehicles are not only of theoretical challenging but also important practice. This project is firstly to develop methodologies to design full-state feedback controllers to force the underactuated ocean vehicles including surface ships and underwater vehicles with off-diagonal terms in their system matrices to track reference trajectories generated by virtual vehicles, and to follow a predefined path with a desired forward speed. Secondly, we develop methods to design observers to estimate the unmeasured states (velocities) of the vehicles and incorporate with the full-state feedback controllers to have output-feedback observer-based controllers. Lastly, the proposed control design methods are extended to a certain class of underactuated mechanical systems.Read moreRead less
Mathematical and computational analysis of ship wakes. This project aims to develop mathematical and computational tools to compute the energy in a given ship wake and to determine a range of properties of a ship by taking simple measurements of the water height as the ship travels past. The expected outcomes of this project include a suite of algorithms that back-calculate the hull shape and operating conditions of a moving ship given only the surface height data measured at a single point. The ....Mathematical and computational analysis of ship wakes. This project aims to develop mathematical and computational tools to compute the energy in a given ship wake and to determine a range of properties of a ship by taking simple measurements of the water height as the ship travels past. The expected outcomes of this project include a suite of algorithms that back-calculate the hull shape and operating conditions of a moving ship given only the surface height data measured at a single point. These results should have direct implications for measuring damage to coastal zones by ship wakes and for surveillance of shipping channels.Read moreRead less
Coordination control of underactuated ocean vehicles for ocean forecasting. Australia is surrounded by oceans. Ocean forecasting is essential for effective and efficient operations on and within the ocean for a number of applications such as coastal zone management, military operations and scientific research. The successful completion of this project promises to put Australia in a leading position in this area. Due to the multi-disciplinary nature of this project, the project development will a ....Coordination control of underactuated ocean vehicles for ocean forecasting. Australia is surrounded by oceans. Ocean forecasting is essential for effective and efficient operations on and within the ocean for a number of applications such as coastal zone management, military operations and scientific research. The successful completion of this project promises to put Australia in a leading position in this area. Due to the multi-disciplinary nature of this project, the project development will also stimulate the development in many other areas such as new ocean vehicles, sensors and actuators, electronics and control.Read moreRead less
Optimising flex fuel engine performance. This project will enable alternative fuels to be used optimally in engines for transport and distributed electricity generation. This will benefit Australian industry through better engine control technology and the Australian public through reduced emissions and cost in running engines using natural gas or LPG.