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izvor podataka: crosbi

Fast In-Field Identification of Unmanned Marine Vehicles (CROSBI ID 165573)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Mišković, Nikola ; Bibuli, Marco ; Caccia, Massimo ; Vukić, Zoran ; Bruzzone, Gabriele Fast In-Field Identification of Unmanned Marine Vehicles // Journal of field robotics, 28 (2011), 1; 101-120. doi: 10.1002/rob.20374

Podaci o odgovornosti

Mišković, Nikola ; Bibuli, Marco ; Caccia, Massimo ; Vukić, Zoran ; Bruzzone, Gabriele

engleski

Fast In-Field Identification of Unmanned Marine Vehicles

To design high level control structures efficiently, reasonable mathematical model parameters of the vessel have to be known. Since sensors and equipment mounted onboard marine vessels can change during mission, it is important to have an identification procedure which will be easily implementable, time-preserving and result in model parameters accurate enough to perform controller design. This paper introduces one such method which is based on self-oscillations (IS-O). The described methodology can be used to identify nonlinear model parameters of a single degree of freedom of underwater and surface marine vessels. Extensive experiments have been carried out on VideoRay ROV and Charlie USV in order to prove that the method gives consistent results. A comparison with the least-squares identification and thorough validation tests have been performed, proving the quality of the obtained parameters. The proposed method can also be used to make conclusions on the model that describes the dynamics of the vessel. The paper also includes results of autopilot design where the controllers are tuned according to the proposed method based on self-oscillations, proving the applicability of the proposed method.

plovila; autonomna vozila; identifikacija; vlastite oscilacije; upravljanje

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Podaci o izdanju

28 (1)

2011.

101-120

objavljeno

1556-4959

10.1002/rob.20374

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti

Poveznice
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