Naslov
Control of UUVs Based upon Mathematical Models Obtained from Self-Oscillations Experiments

Autori
Mišković, Nikola ; Vukić, Zoran ; Omerdić, Edin

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

Izvornik
Proceedings of the Workshop on Navigation, Guidance and Control of Underwater Vehicles 2008 / Toal, Daniel ; Roberts, Geoff - Limerick : University of Limerick, 2008, 13-18

ISBN
978-3-902661-35-7

Skup
IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles

Mjesto i datum
Killaloe, Irska, 08.04.2008. - 10.04.2008

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
underwater vehicle; parameter identification; self-oscillations; nonlinear models; nonlinear control

Sažetak
The paper describes the use of self-oscillation identification method for controller design for underwater vehicles. Using the proposed algorithm both linear and nonlinear models can be obtained. In addition to that, the algorithm enables identification of the bias term that appears due to currents (in yaw models) and difference between weigh and buoyancy (in heave models). A detailed stability analysis has been performed for the proposed controller which is either linear or nonlinear based on the assumption on the process model. Simulation results are presented for two underwater vehicles.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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