Hrvatska znanstvena bibliografija (CROSBI)



Pregled bibliografske jedinice broj: 471994

Zbornik radova

Autori: Mišković, Nikola; Nađ, Đula; Vukić, Zoran
Naslov: Guidance of Laboratory Marine Platforms
Izvornik: Proceedings of the 33rd International convention on information and communication technology, electronics ad mircroelectronics MIPRO 2010, CTS / Bogunović, Nikola ; Ribarić, Slobodan (ur.). - Rijeka : Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO , 2010. 17-22 (ISBN: 978-953-233-053-3).
Skup: 33rd International convention on information and communication technology, electronics ad mircroelectronics MIPRO 2010, CTS
Mjesto i datum: Opatija, Hrvatska, 24-28.05.2010.
Ključne riječi: guidance; marine platform
Sažetak:
Marine robotics is an interesting area for control engineers since these systems are complex, nonlinear and operate in highly unpredictable environment (winds, currents, waves). This paper present a laboratory model of a surface platform for dynamic positioning which has been developed at the Laboratory for Underwater Systems and Technologies, University of Zagreb. The full mathematical model consisting of actuator allocation, dynamic model and kinematic model is described. The platform has primarily been developed for testing and comparison of different control, guidance and navigation algorithms. The platform is overactuated which makes it suitable for fault tolerant control design. The paper describes the procedure of model based line following controller design which ensures stability and zero error line following under the influence of external disturbances.
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
Puni text rada: 471994.MIPRO10_complete.pdf (tekst priložen 27. Svi. 2010. u 21:45 sati)
Upisao u CROSBI: nmiskovic@fer.hr (nmiskovic@fer.hr), 27. Svi. 2010. u 21:45 sati