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Dynamic positioning of a diver tracking surface platform (CROSBI ID 622292)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Mišković, Nikola ; Nađ, Đula ; Vasilijević, Antonio ; Vukić, Zoran Dynamic positioning of a diver tracking surface platform // Proceedings of the 19th World Congress The International Federation of Automatic Control / Boje, Edward ; Xia, Xiaohua (ur.). International Federation of Automatic Control, 2014. str. 4228-4233

Podaci o odgovornosti

Mišković, Nikola ; Nađ, Đula ; Vasilijević, Antonio ; Vukić, Zoran

engleski

Dynamic positioning of a diver tracking surface platform

This paper presents experimental results obtained on an autonomous omnidirectional surface marine platform, developed at the University of Zagreb, during two-week field trials in Murter, Croatia. We focus on results that are a part of the second phase of research on the platform that is intended to be used as a diver tracking platform. This phase includes experimental verification of the control and dynamic positioning (DP) algorithms performed in real environmental conditions, where external disturbances and sensor characteristics have significant influence on the vehicle behaviour. Specifically, we demonstrate 1) experimental results showing successful heading control of the overactuated marine platform even in cases when the platform is performing simultaneous omnidirectional motion ; 2) experimental results demonstrating the quality of the DP algorithm performance, and 3) how GPS update frequency influences the quality of DP performance and the quality of the commanded control signal with the navigation filter that uses only GPS measurement and an uncoupled dynamic model of the omnidirectional marine platform.

Unmanned marine vehicles ; Dynamic positioning ; Marine system navigation ; guidance and control

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Podaci o prilogu

4228-4233.

2014.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 19th World Congress The International Federation of Automatic Control

Boje, Edward ; Xia, Xiaohua

International Federation of Automatic Control

978-3-902823-62-5

1474-6670

Podaci o skupu

19th IFAC World Congress

predavanje

01.01.2014-01.01.2014

Cape Town, Južnoafrička Republika

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti