Control of UUVs Based upon Mathematical Models Obtained from Self-Oscillations Experiments (CROSBI ID 534519)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Mišković, Nikola ; Vukić, Zoran ; Omerdić, Edin
engleski
Control of UUVs Based upon Mathematical Models Obtained from Self-Oscillations Experiments
The paper describes the use of self-oscillation identification method for controller design for underwater vehicles. Using the proposed algorithm both linear and nonlinear models can be obtained. In addition to that, the algorithm enables identification of the bias term that appears due to currents (in yaw models) and difference between weigh and buoyancy (in heave models). A detailed stability analysis has been performed for the proposed controller which is either linear or nonlinear based on the assumption on the process model. Simulation results are presented for two underwater vehicles.
underwater vehicle; parameter identification; self-oscillations; nonlinear models; nonlinear control
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Podaci o prilogu
13-18.
2008.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the Workshop on Navigation, Guidance and Control of Underwater Vehicles 2008
Toal, Daniel ; Roberts, Geoff
Limerick: University of Limerick
978-3-902661-35-7
Podaci o skupu
IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles
predavanje
08.04.2008-10.04.2008
Killaloe, Irska