Marine Vehicles' Line Following Controller Tuning through Self-Oscillation Experiments (CROSBI ID 553619)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Mišković, Nikola ; Bibuli, Marco ; Caccia, Massimo ; Bruzzone, Gabriele ; Vukić, Zoran
engleski
Marine Vehicles' Line Following Controller Tuning through Self-Oscillation Experiments
This paper demonstrates the use of self-oscillation identification experiments for tuning line following controllers for marine vehicles. Two approaches are described: first, when the controller output is yaw rate and second when controller output is reference heading. In the fi rst case, low level controller is yaw rate while in the second it is heading controller. The identification by use of self-oscillations (IS-O) has been applied to identify the steering equation (for the case of the fi rst controller) and it was used to identify the heading closed loop (for the case of the second controller). The second controller has been tested on different inner loop structures in order to prove the functionality of the method. The IS-O method has been chosen because of its simplicity and applicability in the field (effects of external disturbances are minimized). The methodology was applied to autonomous catamaran Charlie. The results are presented in the paper and demonstrate that the proposed method for identification as well as the developed algorithms give satisfactory performance. All algorithms and results presented here are a result of a joint work of researchers at the Consiglio Nazionale delle Ricerche, Genova and the University of Zagreb.
guidance; line-following; marine vehicle; autonomous catamaran; self-oscillations
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Podaci o prilogu
916-921.
2009.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 17th Mediterranean Conference on Control and Automation (MED 2009)
Podaci o skupu
17th Mediterranean Conference on Control and Automation MED 2009)
predavanje
24.06.2009-26.06.2009
Solun, Grčka