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: 602192

Zbornik radova

Autori: Triska, Zoran; Mišković, Nikola; Nađ, Đula; Vukić, Zoran
Naslov: Virtual Target Algorithm in Cooperative Control of Marine Vessels
Izvornik: Proceedings of the 35th international convention on information and communication technology, electronics and microelectronics MIPRO/CTS 2012)Rijeka : Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO , 2012. 806-811 (ISBN: 978-1-4673-2577-6).
Skup: 35th international convention on information and communication technology, electronics and microelectronics (MIPRO/CTS 2012)
Mjesto i datum: Opatija, Hrvatska, 21-25.5.2012.
Ključne riječi: Lyapunov based approach; cooperative control; marine vessels; virtual target algorithm; wingman problem
Sažetak:
Marine vessels (surface and underwater) present dynamic systems which are difficult to control due to their complexity, hydrodynamic effects and external forces. Moreover, cooperative control and guidance of these systems presents a task which still presents an intriguing research topic in the area of marine robotics. This paper presents a guidance method based on virtual targets (VT) applied to marine vehicles. The proposed algorithm is derived using a Lyapunov based approach which guarantees convergence and stability under external disturbances. Firstly, the VT algorithm is applied for path following of a single vehicle. It is demonstrated that this algorithm is convenient for following of conventional paths (line, circle arc, spline). Secondly, the VT algorithm is applied for cooperative control between two marine vehicles. The following formations of marine vessels will be described and analyzed: vehicle following – where one vehicle is the „leader“ followed by the „follower“ vehicle at a predefined distance ; and the „wingman problem“ where two vehicles are required to follow a joint path at a constant predefined distance between them. Simulation results of the described algorithms will be given in the paper as well as the discussion on their quality.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika
Puni text rada: 602192.Triska_et_al_MIPRO12.pdf (tekst priložen 7. Stu. 2012. u 10:42 sati)
URL Internet adrese: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6240754&newsearch=true&queryText=Virtual%20Target%20Algorithm%20in%20Cooperative%20Control%20of%20Marine%20Vessels
Upisao u CROSBI: ns42749@fer.hr (ns42749@fer.hr), 7. Stu. 2012. u 10:42 sati



Verzija za printanje   za tiskati


upomoc
foot_4