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  <doc>
    <id>1967</id>
    <completedYear>2024</completedYear>
    <publishedYear/>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>174</pageFirst>
    <pageLast>179</pageLast>
    <pageNumber/>
    <edition/>
    <issue>25</issue>
    <volume>58</volume>
    <type>article</type>
    <publisherName/>
    <publisherPlace/>
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    <contributingCorporation/>
    <belongsToBibliography>1</belongsToBibliography>
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    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Development and Validation of an Automatic Waypoint Navigation Control System for Watercrafts</title>
    <abstract language="eng">This paper presents the development and testing of an automatic control system for waypoint navigation in a solar boat, initially designed for manual operation. It covers the boat's modifications for automation, system identification through step response experiments, and control strategy implementation. The system includes a Base Controller for yaw rate and speed as well as a subsequent Waypoint Path Controller for navigation. Utilizing a nominal dynamic model of the boat, the Base Controller's design emphasizes robustness against parameter uncertainties, while the Waypoint Path Controller follows a conventional approach. The effectiveness of the system is validated with real driving tests.</abstract>
    <parentTitle language="eng">IFAC-PapersOnLine</parentTitle>
    <identifier type="urn">urn:nbn:de:kobv:526-opus4-19673</identifier>
    <enrichment key="opus.import.data">@articleKöthe2024, address = "Amsterdam", publisher = "Elsevier", eissn = "2405-8963", abstract = "This paper presents the development and testing of an automatic control system for waypoint navigation in a solar boat, initially designed for manual operation. It covers the boat’s modifications for automation, system identification through step response experiments, and control strategy implementation. The system includes a Base Controller for yaw rate and speed as well as a subsequent Waypoint Path Controller for navigation. Utilizing a nominal dynamic model of the boat, the Base Controller’s design emphasizes robustness against parameter uncertainties, while the Waypoint Path Controller follows a conventional approach. The effectiveness of the system is validated with real driving tests.", author = "Köthe, Alexander and Guske, Oliver and Martinen, Ivan and Hopf, Janik and Worrmann, Paul", doi = "10.1016/j.ifacol.2024.10.257", journal = "IFAC-PapersOnLine", keywords = "Control Design, Identification, Marine Systems, Mechatronic Systems, Modeling", language = "eng", number = "25", pages = "174–179", title = "Development and Validation of an Automatic Waypoint Navigation Control System for Watercrafts", volume = "58", year = "2024"</enrichment>
    <enrichment key="opus.import.dataHash">md5:f12298b2585d54ff4b97e5fc8058180e</enrichment>
    <enrichment key="opus.import.date">2024-11-18T07:44:38+00:00</enrichment>
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    <enrichment key="opus.import.id">673af0666597a3.65908023</enrichment>
    <enrichment key="SourceTitle">Köthe, A., Guske, O., Martinen, I., Hopf, J., &amp; Worrmann, P. (2024). Development and Validation of an Automatic Waypoint Navigation Control System for Watercrafts. IFAC-PapersOnLine, 58(25), 174–179. doi:10.1016/j.ifacol.2024.10.257</enrichment>
    <enrichment key="DOI_VoR">https://doi.org/10.1016/j.ifacol.2024.10.257</enrichment>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <licence>Creative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International</licence>
    <author>Alexander Köthe</author>
    <author>Oliver Guske</author>
    <author>Ivan Martinen</author>
    <author>Janik Hopf</author>
    <author>Paul Worrmann</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>control design</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>identification</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>marine system</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>mechatronic system</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>modeling</value>
    </subject>
    <collection role="ddc" number="003">Systeme</collection>
    <collection role="ddc" number="388">Verkehr; Landverkehr</collection>
    <collection role="institutes" number="">Fachbereich Ingenieur- und Naturwissenschaften</collection>
    <collection role="open_access" number="">open_access</collection>
    <collection role="green_open_access" number="3">Diamond Open Access</collection>
    <thesisPublisher>Technische Hochschule Wildau</thesisPublisher>
    <file>https://opus4.kobv.de/opus4-th-wildau/files/1967/1-s2.0-S2405896324020329-main.pdf</file>
  </doc>
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