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Pregled bibliografske jedinice broj: 885469

Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments


Kapetanović, Nadir; Bibuli, Marco; Mišković, Nikola; Caccia, Massimo; Bruzzone, Gabriele; Nađ, Đula
Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments // Proceedings of the MST/IEEE OCEANS 2017 - Aberdeen conference,
Aberdeen, 2017. str. 1-6 doi:10.1109/OCEANSE.2017.8084684 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


CROSBI ID: 885469 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments

Autori
Kapetanović, Nadir ; Bibuli, Marco ; Mišković, Nikola ; Caccia, Massimo ; Bruzzone, Gabriele ; Nađ, Đula

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

Izvornik
Proceedings of the MST/IEEE OCEANS 2017 - Aberdeen conference, / - Aberdeen, 2017, 1-6

ISBN
978-1-5090-5278-3

Skup
MST/IEEE OCEANS 2017 - Aberdeen conference

Mjesto i datum
Aberdeen, Ujedinjeno Kraljevstvo, 19-22.06.2017

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

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

Sažetak
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. An improved line following performance measure has been used to asses system performance with respect to MPC's parameters. 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.

Izvorni jezik
Engleski



POVEZANOST RADA


Projekti:
984807
691980 - Excelling LABUST in marine robotics (EXCELLABUST) (Mišković, Nikola, EK - H2020-TWINN-2015) ( POIROT)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Nikola Mišković (autor)

Avatar Url Nadir Kapetanović (autor)

Avatar Url Đula Nađ (autor)

Poveznice na cjeloviti tekst rada:

Pristup cjelovitom tekstu rada doi ieeexplore.ieee.org

Citiraj ovu publikaciju:

Kapetanović, Nadir; Bibuli, Marco; Mišković, Nikola; Caccia, Massimo; Bruzzone, Gabriele; Nađ, Đula
Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments // Proceedings of the MST/IEEE OCEANS 2017 - Aberdeen conference,
Aberdeen, 2017. str. 1-6 doi:10.1109/OCEANSE.2017.8084684 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Kapetanović, N., Bibuli, M., Mišković, N., Caccia, M., Bruzzone, G. & Nađ, Đ. (2017) Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments. U: Proceedings of the MST/IEEE OCEANS 2017 - Aberdeen conference, doi:10.1109/OCEANSE.2017.8084684.
@article{article, author = {Kapetanovi\'{c}, Nadir and Bibuli, Marco and Mi\v{s}kovi\'{c}, Nikola and Caccia, Massimo and Bruzzone, Gabriele and Na\dj, \DJula}, year = {2017}, pages = {1-6}, DOI = {10.1109/OCEANSE.2017.8084684}, keywords = {unmanned marine vehicles, marine systems navigation, guidance and control, model predictive control, disturbance rejection}, doi = {10.1109/OCEANSE.2017.8084684}, isbn = {978-1-5090-5278-3}, title = {Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments}, keyword = {unmanned marine vehicles, marine systems navigation, guidance and control, model predictive control, disturbance rejection}, publisherplace = {Aberdeen, Ujedinjeno Kraljevstvo} }
@article{article, author = {Kapetanovi\'{c}, Nadir and Bibuli, Marco and Mi\v{s}kovi\'{c}, Nikola and Caccia, Massimo and Bruzzone, Gabriele and Na\dj, \DJula}, year = {2017}, pages = {1-6}, DOI = {10.1109/OCEANSE.2017.8084684}, keywords = {unmanned marine vehicles, marine systems navigation, guidance and control, model predictive control, disturbance rejection}, doi = {10.1109/OCEANSE.2017.8084684}, isbn = {978-1-5090-5278-3}, title = {Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments}, keyword = {unmanned marine vehicles, marine systems navigation, guidance and control, model predictive control, disturbance rejection}, publisherplace = {Aberdeen, Ujedinjeno Kraljevstvo} }

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