Naslov
AUV Identification by Use of Self-Oscillations

Autori
Mišković, Nikola ; Vukić, Zoran ; Barišić, Matko ; Soucacos, Philip P.

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

Izvornik
Proceedings of the 7th IFAC Conference on Control Applications in Marine Systems / Vukić, Zoran ; Longhi, Sauro - Zagreb : Centar za podvodne sustave i tehnologije, 2007, 181-186

Skup
IFAC Conference on Control Applications in Marine Systems - CAMS'07

Mjesto i datum
Bol, Hrvatska, 19.09.2007. - 21.09.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
underwater vehicle; parameter identification; self-oscillations; limit cycles

Sažetak
Given the fact that AUV dynamics change depending on the payload, finding a mathematical model in a rather small period of time is quite important. Classical open-loop identification methods give accurate parameter identification, but are also time consuming. In the paper we present an identification method based on induced self-oscillations, which has proved to be applicable to underwater vehicles. In addition to that, an error analysis for the proposed method is presented. Experimental results obtained on an underwater vehicle are given and compared to the results obtained using open-loop identification algorithms.

Izvorni jezik
Engleski

Znanstvena područja
Brodogradnja, Elektrotehnika

POVEZANOST RADA