Hrvatska znanstvena bibliografija (CROSBI)



Pregled bibliografske jedinice broj: 588094

Zbornik radova

Autori: Vladić, Viktor; Mišković, Nikola; Vukić, Zoran
Naslov: Quick Identification and Dynamic Positioning Controller Design for a Small–Scale Ship Model
Izvornik: Proceedings of the 2012 20th Mediterranean Conference on Control & Automation (MED) / Albertos, Pedro ; Quevedo, Joseba (ur.). - Barcelona : IEEE , 2012. 1385-1390.
Skup: 20th Mediterranean Conference on Control and Automation
Mjesto i datum: Barcelona, Španjolska, 03-06.07.2012.
Ključne riječi: Marine control; Unmanned systems; Education and training
Sažetak:
Dynamic positioning (DP) in marine robotics is a valuable feature that can significantly improve vessel performance at sea. In order to have satisfactory DP behavior, a sufficiently accurate mathematical model and parameters have to be known. Performing extensive identification trials at sea is a tedious and time consuming task. This paper demonstrates the application of a quick identification method based on self–oscillations (IS–O) applied to all controllable degrees of freedom (surge, sway and yaw) of a small–scale tanker model. In the paper we prove the consistency of the applied identification method. The identified model parameters are then used to tune DP controller parameters. The high quality of the model–based DP controller performance is demonstrated, proving the applicability of the IS– O method for DP controller tuning.
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: 588094.clanak_u_proceedings.pdf (tekst priložen 17. Srp. 2012. u 16:26 sati)
URL Internet adrese: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6265832
Upisao u CROSBI: nmiskovic@fer.hr (nmiskovic@fer.hr), 17. Srp. 2012. u 16:26 sati