Self-oscillation Based Identification and Heading Control for Unmanned Surface Vehicles (CROSBI ID 543599)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Bibuli, Marco ; Bruzzone, Gabriele, Caccia, Massimo ; Mišković, Nikola ; Vukić, Zoran
engleski
Self-oscillation Based Identification and Heading Control for Unmanned Surface Vehicles
The paper demonstrates the use of self-oscillation identification method for heading controller tuning of the autonomous unmanned surface vehicle (USV) Charlie. In short, the theory behind self-oscillation identification method is addressed and a model based controller design is described. Two controllers are implemented on the vehicle: controller with Euler backward differentiator for yaw rate calculation, Kalman filter based yaw rate estimator. The Kalman filter is also tuned on the basis of the identified model. The methodology for auto-tuning experiment has been described and implemented on the actual vehicle. The experimental results prove that the proposed method is easily implemented, non time-consuming and gives satisfactory results.
identification; motion control
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Podaci o prilogu
2008.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 17th International Workshop on Robotics in Alpe– Adria– Danube Region (RAAD 2008)
Podaci o skupu
17th International Workshop on Robotics in Alpe– Adria– Danube Region (RAAD 2008)
predavanje
15.09.2008-17.09.2008
Ancona, Italija