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Real-time model predictive line following control for underactuated marine vehicles (CROSBI ID 650193)

Prilog sa skupa u časopisu | izvorni znanstveni rad | međunarodna recenzija

Kapetanović, Nadir ; Bibuli, Marco ; Mišković, Nikola ; Caccia, Massimo Real-time model predictive line following control for underactuated marine vehicles // IFAC-PapersOnLine / Dochain Denis ; Henrion Didier ; Peaucelle, Dimitri (ur.). 2017. str. 12374-12379 doi: 10.1016/j.ifacol.2017.08.2501

Podaci o odgovornosti

Kapetanović, Nadir ; Bibuli, Marco ; Mišković, Nikola ; Caccia, Massimo

engleski

Real-time model predictive line following control for underactuated marine vehicles

A linear model predictive control (LMPC) based framework is developed for underactuated marine vehicles' kinematic line following while moving at a constant depth in the presence of disturbance. LMPC is used as a high level controller which sets the reference surge and yaw velocities for the low level PID tracking controllers. Used ACADO optimization toolbox solves the optimal problem at hand in real- time. This framework has shown good results both in simulation environment and in on- sea experiments.

unmanned marine vehicles, marine systems navigation, guidance and control, model predictive control, disturbance rejection

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Podaci o prilogu

12374-12379.

2017.

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objavljeno

10.1016/j.ifacol.2017.08.2501

Podaci o matičnoj publikaciji

IFAC-PapersOnLine

Dochain Denis ; Henrion Didier ; Peaucelle, Dimitri

Elsevier

2405-8963

Podaci o skupu

20th World Congress of the International Federation of Automatic Control (IFAC)

predavanje

09.07.2017-14.07.2017

Toulouse, Francuska

Povezanost rada

Elektrotehnika

Poveznice
Indeksiranost