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Pregled bibliografske jedinice broj: 439343

Časopis

Autori: Mišković, Nikola; Vukić, Zoran; Barišić, Matko
Naslov: Identification of Unmanned Underwater Vehicles by Self-Oscillation Method
Izvornik: Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije (0005-1144) 3-4 (2009); 167-183
Vrsta rada: članak
Ključne riječi: nonlinear systems; underwater vehicles; identification; self-oscillations
Sažetak:
Control of underwater vehicles is a challenging task since these systems demonstrate highly coupled and nonlinear behavior in uncertain and often unknown environment. In order to successfully design higher levels of control hierarchy, sufficiently accurate parameters of a mathematical model describing the vessel is required. These parameters vary significantly depending on the payload ; hence conventional, time-consuming identification methods are tedious. This paper introduces a self-oscillation based method for determining inertia and drag parameters for underwater vehicles. The procedure is easily implementable in field conditions and gives satisfactory results. Both linear and nonlinear models of yaw, heave and surge degree of freedom can be identified. Experimental results obtained from yaw identification experiments on a real underwater vehicle will be presented. In addition to this, the same methodology will be used to determine which model describes the vehicle dynamics more suitably. Modifications of the proposed algorithm for systems with delays and discrete-time systems will be described, together with an estimate of parameter error bounds due to quantization levels.
Projekt / tema: 036-0362975-2999
Izvorni jezik: ENG
Rad je indeksiran u
bazama podataka:
Scopus
SCI-EXP, SSCI i/ili A&HCI
Science Citation Index Expanded (SCI-EXP) (sastavni dio Web of Science Core Collectiona)
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Temeljne tehničke znanosti
URL cjelovitog teksta:
Časopis izlazi u samo elektroničkom izdanju: NE
Google Scholar: Identification of Unmanned Underwater Vehicles by Self-Oscillation Method
Upisao u CROSBI: nmiskovic@fer.hr (nmiskovic@fer.hr), 7. Sij. 2010. u 10:01 sati



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