crta
Hrvatska znanstvena Sekcija img
bibliografija
3 gif
 Naslovna
 O projektu
 FAQ
 Kontakt
4 gif
Pregledavanje radova
Jednostavno pretraživanje
Napredno pretraživanje
Skupni podaci
Upis novih radova
Upute
Ispravci prijavljenih radova
Ostale bibliografije
Slični projekti
 Bibliografske baze podataka

Pregled bibliografske jedinice broj: 421599

Zbornik radova

Autori: Mišković, Nikola; Bibuli, Marco; Caccia, Massimo; Bruzzone, Gabriele; Vukić, Zoran
Naslov: Marine Vehicles' Line Following Controller Tuning through Self-Oscillation Experiments
Izvornik: Proceedings of the 17th Mediterranean Conference on Control and Automation (MED 2009)
Skup: 17th Mediterranean Conference on Control and Automation MED 2009)
Mjesto i datum: Solun, Grčka, 24-26.06.2009.
Ključne riječi: guidance; line-following; marine vehicle; autonomous catamaran; self-oscillations
Sažetak:
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.
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,Informacijske i komunikacijske znanosti
Puni text rada: 421599.clanak02_final_paper_MED09.pdf (tekst priložen 6. Srp. 2009. u 10:32 sati)
Upisao u CROSBI: nmiskovic@fer.hr (nmiskovic@fer.hr), 6. Srp. 2009. u 10:32 sati



Verzija za printanje   za tiskati


upomoc
foot_4