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Laboratory Platforms for Dynamic Positioning – Modeling and Identification


Mišković, Nikola; Nađ, Đula; Vukić, Zoran; Marszalek, Berislav
Laboratory Platforms for Dynamic Positioning – Modeling and Identification // Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems / Lampe, Bernhard (ur.).
Rostock-Warnemunde, 2010. str. 161-166 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Laboratory Platforms for Dynamic Positioning – Modeling and Identification

Autori
Mišković, Nikola ; Nađ, Đula ; Vukić, Zoran ; Marszalek, Berislav

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

Izvornik
Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems / Lampe, Bernhard - Rostock-Warnemunde, 2010, 161-166

Skup
8th IFAC Conference on Control Applications in Marine Systems

Mjesto i datum
Rostock-Warnemunde, Njemačka, 15-17.09.2010

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Marine vessels ; identification ; MOOS ; dynamic positioning

Sažetak
Dynamic positioning is a challenging task in control of marine vessels, with the primary objective of maintaining a desired, predefined position of the vessel. This paper describes an overactuated laboratory platform developed at the Laboratory for Underwater Systems and Technologies with the purpose of testing control algorithms. This paper focuses on the identification of the laboratory platform. The identification method which is used is based on recording open loop step responses. Preliminary experimental results for controllable degrees of freedom are presented. The paper also describes a MOOS (mission oriented operating system) based communication structure used to control the platform.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke 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