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Pregled bibliografske jedinice broj: 491408

Command filtered backstepping design in MOOS-IvP helm framework for trajectory tracking of USVs


Djapic, Vladimir; Nađ, Đula
Command filtered backstepping design in MOOS-IvP helm framework for trajectory tracking of USVs // Proceedings of the 2010 American Control Conference (ACC 2010)
Baltimore, SAD: Institute of Electrical and Electronics Engineers (IEEE), 2010. str. 5997-6003 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


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Naslov
Command filtered backstepping design in MOOS-IvP helm framework for trajectory tracking of USVs

Autori
Djapic, Vladimir ; Nađ, Đula

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

Izvornik
Proceedings of the 2010 American Control Conference (ACC 2010) / - : Institute of Electrical and Electronics Engineers (IEEE), 2010, 5997-6003

ISBN
9781424474257

Skup
2010 American Control Conference

Mjesto i datum
Baltimore, SAD, 30.06. - 02.07

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
backstepping ; MOOS ; USV ; tracking

Sažetak
This article describes design and simulation im- plementation of a nonlinear controller for an underactuated surface vehicle. The controller is designed using a command filtered backstepping (CFBS) approach. Theoretical background for controller design is given in the first part of this article. This nonlinear controller can be used for accurate tracking of a complex trajectory, for example a circular trajectory. Second part of the article focuses on implementation in the MOOS-IvP framework. This framework allows for flexibility in control and mission planning. Guidance is covered by the MOOS- IvP implementation of the controller while the COTS autopilot handles low-level control. The control performance is verified in simulation which confirms arbitrarily small tracking error. This paper presents simulation results where external disturbances, such currents, are also simulated and compensated for.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Đula Nađ (autor)

Citiraj ovu publikaciju

Djapic, Vladimir; Nađ, Đula
Command filtered backstepping design in MOOS-IvP helm framework for trajectory tracking of USVs // Proceedings of the 2010 American Control Conference (ACC 2010)
Baltimore, SAD: Institute of Electrical and Electronics Engineers (IEEE), 2010. str. 5997-6003 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Djapic, V. & Nađ, Đ. (2010) Command filtered backstepping design in MOOS-IvP helm framework for trajectory tracking of USVs. U: Proceedings of the 2010 American Control Conference (ACC 2010).
@article{article, year = {2010}, pages = {5997-6003}, keywords = {backstepping, MOOS, USV, tracking}, isbn = {9781424474257}, title = {Command filtered backstepping design in MOOS-IvP helm framework for trajectory tracking of USVs}, keyword = {backstepping, MOOS, USV, tracking}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Baltimore, SAD} }
@article{article, year = {2010}, pages = {5997-6003}, keywords = {backstepping, MOOS, USV, tracking}, isbn = {9781424474257}, title = {Command filtered backstepping design in MOOS-IvP helm framework for trajectory tracking of USVs}, keyword = {backstepping, MOOS, USV, tracking}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Baltimore, SAD} }




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