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Pregled bibliografske jedinice broj: 774316

Zbornik radova

Autori: Mandić, Filip; Mišković, Nikola; Vukić, Zoran
Naslov: Range–only Navigation – Maximizing System Observability by Using Extremum Seeking
Izvornik: Proceedings of the 10th Conference on Manoeuvring and Control of Marine CraftKopenhagen :
Skup: 10th Conference on Manoeuvring and Control of Marine Craft (MCMC'2015)
Mjesto i datum: Kopenhagen, Danska, 24-26.08.2015.
Ključne riječi: Underwater vehicle navigation; Nonlinear control; State estimation
Sažetak:
Mobile beacon vehicles can be used as navigational aid for autonomous underwater vehicles when performing navigation using single range measurements. Using mobile beacon removes constraints imposed on the underwater vehicle trajectory because mobile beacon executes trajectories that ensure persistent range measurements. In this paper extremum seeking based control of beacon vehicle which ensures good observability with small communication overhead is proposed. First cost function which gives measure of observability is derived. In addition, extremum seeking loop for steering mobile beacon is presented. Finally, simulation results of proposed algorithm are presented.
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,Temeljne tehničke znanosti
URL Internet adrese: http://www.sciencedirect.com/science/article/pii/S2405896315021564
Upisao u CROSBI: Filip Mandić (filip.mandic@fer.hr), 2. Ruj. 2015. u 08:46 sati



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