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Pregled bibliografske jedinice broj: 330058

Zbornik radova

Autori: Mišković, Nikola; Vukić, Zoran; Omerdić, Edin
Naslov: Control of UUVs Based upon Mathematical Models Obtained from Self-Oscillations Experiments
Izvornik: Proceedings of the Workshop on Navigation, Guidance and Control of Underwater Vehicles 2008 / Toal, Daniel ; Roberts, Geoff (ur.). - Limerick, Ireland : University of Limerick , 2008. 13-18 (ISBN: 978-3-902661-35-7).
Skup: IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles
Mjesto i datum: Killaloe, Irska, 8-10.04.2008.
Ključne riječi: underwater vehicle; parameter identification; self-oscillations; nonlinear models; nonlinear control
Sažetak:
The paper describes the use of self-oscillation identification method for controller design for underwater vehicles. Using the proposed algorithm both linear and nonlinear models can be obtained. In addition to that, the algorithm enables identification of the bias term that appears due to currents (in yaw models) and difference between weigh and buoyancy (in heave models). A detailed stability analysis has been performed for the proposed controller which is either linear or nonlinear based on the assumption on the process model. Simulation results are presented for two underwater vehicles.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 036-0362975-2999
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Temeljne tehničke znanosti
Puni text rada: 330058.Miskovic_et_al_final_paper.pdf (tekst priložen 22. Tra. 2008. u 17:15 sati)
URL Internet adrese: http://www.ifac-papersonline.net/Detailed/39451.html
Upisao u CROSBI: nmiskovic@fer.hr (nmiskovic@fer.hr), 22. Tra. 2008. u 17:15 sati



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