Banca de QUALIFICAÇÃO: WILLIAN MOURA GONDIM DE FREITAS

Uma banca de QUALIFICAÇÃO de MESTRADO foi cadastrada pelo programa.
STUDENT : WILLIAN MOURA GONDIM DE FREITAS
DATE: 30/01/2026
TIME: 14:30
LOCAL: Videoconferência na plataforma Google Meet
TITLE:

Path Following Controller Design for an Unmanned Autonomous Hovercraft

KEY WORDS:

Unmanned Surface Vehicle, Hovercraft, Path Following Controller, Serret-Frenet, Virtual Keel.

PAGES: 30
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUBÁREA: Eletrônica Industrial, Sistemas e Controles Eletrônicos
SPECIALTY: Controle de Processos Eletrônicos, Retroalimentação
SUMMARY:

In this work, a path following controller for an Unmanned Autonomous Hovercraft with two rear propellers is proposed. This controller is based on a classic path following controller for wheeled robots, specified in the moving Serret-Frenet Frame, that ensures stability of the vehicle steering on a neighborhood of the desired path. Since hovercrafts are not subject to the nonholonomic constraints of wheeled robots, the concept of virtual keel is introduced to enable the adaptation of the classical controller to this kind of amphibious vehicle, which is a holonomic system. In this document, a review of the state-of-the-art is presented in order to contextualize the work and justify the expected scientific contribution; the proposed controller is described, introducing the concept of a virtual keel; and preliminary results of experimental simulations, performed to validate the proposed controller and evaluate its performance, are presented. Finally, the additional steps necessary for the completion of this master's thesis are listed.

COMMITTEE MEMBERS:
Presidente - 1242315 - PABLO JAVIER ALSINA
Interno - 2566657 - SAMAHERNI MORAIS DIAS
Externo ao Programa - 1345674 - LUIZ MARCOS GARCIA GONCALVES - UFRN