Naslov
Guidance of Laboratory Marine Platforms

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

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

Izvornik
Proceedings of the 33rd International convention on information and communication technology, electronics ad mircroelectronics MIPRO 2010, CTS / Bogunović, Nikola ; Ribarić, Slobodan - Rijeka : Hrvatska udruga za informacijsku i komunikacijsku tehnologiju, elektroniku i mikroelektroniku - MIPRO, 2010, 17-22

ISBN
978-953-233-053-3

Skup
33rd International convention on information and communication technology, electronics ad mircroelectronics MIPRO 2010, CTS

Mjesto i datum
Opatija, Hrvatska, 24.05.2010. - 28.05.2010

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
guidance ; marine platform

Sažetak
Marine robotics is an interesting area for control engineers since these systems are complex, nonlinear and operate in highly unpredictable environment (winds, currents, waves). This paper present a laboratory model of a surface platform for dynamic positioning which has been developed at the Laboratory for Underwater Systems and Technologies, University of Zagreb. The full mathematical model consisting of actuator allocation, dynamic model and kinematic model is described. The platform has primarily been developed for testing and comparison of different control, guidance and navigation algorithms. The platform is overactuated which makes it suitable for fault tolerant control design. The paper describes the procedure of model based line following controller design which ensures stability and zero error line following under the influence of external disturbances.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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