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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

Vladić, Viktor ; Mišković, Nikola ; Vukić, Zoran Quick Identification and Dynamic Positioning Controller Design for a Small–Scale Ship Model // Proceedings of the 2012 20th Mediterranean Conference on Control & Automation (MED) / Albertos, Pedro ; Quevedo, Joseba (ur.). Barcelona: Institute of Electrical and Electronics Engineers (IEEE), 2012. str. 1385-1390

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

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti