Dynamic Simulation and Nonlinear Controller Design for a Ship Hull Cleaning Robot

نوع: Type: Thesis

مقطع: Segment: masters

عنوان: Title: Dynamic Simulation and Nonlinear Controller Design for a Ship Hull Cleaning Robot

ارائه دهنده: Provider: mahdi jafarpoor

اساتید راهنما: Supervisors: Dr.amin Imani

اساتید مشاور: Advisory Professors:

اساتید ممتحن یا داور: Examining professors or referees: Dr.Mahdi Karimi ,Dr.Alireza SHooshtari

زمان و تاریخ ارائه: Time and date of presentation: 2026

مکان ارائه: Place of presentation: 55

چکیده: Abstract: Ship hull cleaning robots have gained attention in recent years as an efficient alternative to traditional cleaning methods. Due to their operation in underwater environments and direct contact with the ship hull, these robots exhibit nonlinear dynamics, strong coupling between degrees of freedom, and environmental disturbances. In this research, first, the full 6-degree-of-freedom (6-DOF) dynamic model of the robot was derived. Then, considering the complete adhesion of the robot to the ship hull and applying physical constraints, the model was reduced to a 3-DOF model (surge, sway, and yaw). For motion control of the robot, three control structures including Sliding Mode Control (SMC), Sliding Mode Control with integral sliding surface, and Feedback Linearization controller were designed and implemented. Simulations were performed in MATLAB/Simulink environment. Results showed that the 6-DOF model does not perform well due to strong coupling, but after reducing the degrees of freedom to the 3-DOF model, all three controllers exhibited stable and acceptable performance. Additionally, the Feedback Linearization controller, despite its simple structure, showed acceptable performance. Overall, the combination of the 3-DOF model with the Sliding Mode Control with integral sliding surface is recommended as the best option for the ship hull cleaning robot.