Quick Identification and Dynamic Positioning Controller Design for a Small–Scale Ship Model (CROSBI ID 588412)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Vladić, Viktor ; Mišković, Nikola ; Vukić, Zoran
engleski
Quick Identification and Dynamic Positioning Controller Design for a Small–Scale Ship Model
Dynamic positioning (DP) in marine robotics is a valuable feature that can significantly improve vessel performance at sea. In order to have satisfactory DP behavior, a sufficiently accurate mathematical model and parameters have to be known. Performing extensive identification trials at sea is a tedious and time consuming task. This paper demonstrates the application of a quick identification method based on self–oscillations (IS–O) applied to all controllable degrees of freedom (surge, sway and yaw) of a small–scale tanker model. In the paper we prove the consistency of the applied identification method. The identified model parameters are then used to tune DP controller parameters. The high quality of the model–based DP controller performance is demonstrated, proving the applicability of the IS– O method for DP controller tuning.
Marine control; Unmanned systems; Education and training
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Podaci o prilogu
1385-1390.
2012.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 2012 20th Mediterranean Conference on Control & Automation (MED)
Albertos, Pedro ; Quevedo, Joseba
Barcelona: Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
20th Mediterranean Conference on Control and Automation
predavanje
03.07.2012-06.07.2012
Barcelona, Španjolska