Naslov
Tuning Marine Vehicles’ Guidance Controllers through Self-Oscillation Experiments

Autori
Mišković, Nikola ; Bibuli, Marco ; Bruzzone, Gabriele ; Caccia, Massimo ; Vukić, Zoran

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

Izvornik
Proceedings of the 8th IFAC International Conference on Manoeuvring and Control of Marine Craft / Donha, Crissol Decio - Guarujá, 2009, 115-120

Skup
The 8th IFAC International Conference on Manoeuvring and Control of Marine Craft

Mjesto i datum
Guarujá, Brazil, 16.09.2009. - 18.09.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Marine systems; Guidance systems; Line following; Self-oscillation

Sažetak
This paper demonstrates the use of self-oscillation identification experiments for tuning heading and line following controllers for marine vehicles. The identification by use of self-oscillations (IS-O) has been developed for general LTI systems and for a class of nonlinear systems and it was used for tuning guidance controllers. The guidance controllers have been tuned using the results from IS-O experiments. Heading controller algorithm that gives smooth control output is presented. The line following controller generates reference heading as output. The described methodology is applied to autonomous catamaran Charlie and the experimental results are presented in the paper. It has been demonstrated that IS-O method gives good results in field conditions and that it is time conservative. All algorithms and results presented here are a result of joint work of researchers at the Consiglio Nazionale delle Ricerche, Genova and the University of Zagreb.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA