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Pregled bibliografske jedinice broj: 479828

Časopis

Autori: Mišković, Nikola; Bibuli, Marco; Caccia, Massimo; Vukić, Zoran; Bruzzone, Gabriele
Naslov: Fast In-Field Identification of Unmanned Marine Vehicles
Izvornik: Journal of field robotics (1556-4959) 28 (2011), 1; 101-120
Vrsta rada: članak
Ključne riječi: marine vehicles; autonomous vehicles; identification; self-oscillations; control
Sažetak:
To design high level control structures efficiently, reasonable mathematical model parameters of the vessel have to be known. Since sensors and equipment mounted onboard marine vessels can change during mission, it is important to have an identification procedure which will be easily implementable, time-preserving and result in model parameters accurate enough to perform controller design. This paper introduces one such method which is based on self-oscillations (IS-O). The described methodology can be used to identify nonlinear model parameters of a single degree of freedom of underwater and surface marine vessels. Extensive experiments have been carried out on VideoRay ROV and Charlie USV in order to prove that the method gives consistent results. A comparison with the least-squares identification and thorough validation tests have been performed, proving the quality of the obtained parameters. The proposed method can also be used to make conclusions on the model that describes the dynamics of the vessel. The paper also includes results of autopilot design where the controllers are tuned according to the proposed method based on self-oscillations, proving the applicability of the proposed method.
Projekt / tema: 036-0362975-2999
Izvorni jezik: ENG
Rad je indeksiran u
bazama podataka:
Current Contents Connect (CCC)
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 Internet adrese: http://onlinelibrary.wiley.com/doi/10.1002/rob.20374/abstract
Broj citata:
Altmetric:
DOI: 10.1002/rob.20374
URL cjelovitog teksta:
Google Scholar: Fast In-Field Identification of Unmanned Marine Vehicles
Upisao u CROSBI: nmiskovic@fer.hr (nmiskovic@fer.hr), 3. Ruj. 2010. u 18:41 sati



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