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Self-oscillation Based Identification and Heading Control for Unmanned Surface Vehicles


Bibuli, Marco; Bruzzone, Gabriele, Caccia, Massimo; Mišković, Nikola; Vukić, Zoran
Self-oscillation Based Identification and Heading Control for Unmanned Surface Vehicles // Proceedings of the 17th International Workshop on Robotics in Alpe– Adria– Danube Region (RAAD 2008)
Ankona, Italija, 2008. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Self-oscillation Based Identification and Heading Control for Unmanned Surface Vehicles

Autori
Bibuli, Marco ; Bruzzone, Gabriele, Caccia, Massimo ; Mišković, Nikola ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 17th International Workshop on Robotics in Alpe– Adria– Danube Region (RAAD 2008) / - , 2008

Skup
17th International Workshop on Robotics in Alpe– Adria– Danube Region (RAAD 2008)

Mjesto i datum
Ankona, Italija, 15-17.09.2008

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Identification; motion control

Sažetak
The paper demonstrates the use of self-oscillation identification method for heading controller tuning of the autonomous unmanned surface vehicle (USV) Charlie. In short, the theory behind self-oscillation identification method is addressed and a model based controller design is described. Two controllers are implemented on the vehicle: controller with Euler backward differentiator for yaw rate calculation, Kalman filter based yaw rate estimator. The Kalman filter is also tuned on the basis of the identified model. The methodology for auto-tuning experiment has been described and implemented on the actual vehicle. The experimental results prove that the proposed method is easily implemented, non time-consuming and gives satisfactory results.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti, Informacijske i komunikacijske znanosti



POVEZANOST RADA


Projekt / tema
036-0362975-2999 - RoboMarSec - Podvodna robotika u zaštiti podmorja i pomorskoj sigurnosti (Zoran Vukić, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb