Naslov
Fast In-Field Identification of Unmanned Marine Vehicles

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

Izvornik
Journal of field robotics (1556-4959) 28 (2011), 1; 101-120

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
marine vehicles; autonomous vehicles; identification; self-oscillations; control
(plovila; autonomna vozila; identifikacija; vlastite oscilacije; upravljanje)

Sažetak
To design high level control structures efficiently, reasonable mathematical model parameters of the vessel have to be known. Since sensors and equipment mounted onboard marine vessels can change during mission, it is important to have an identification procedure which will be easily implementable, time-preserving and result in model parameters accurate enough to perform controller design. This paper introduces one such method which is based on self-oscillations (IS-O). The described methodology can be used to identify nonlinear model parameters of a single degree of freedom of underwater and surface marine vessels. Extensive experiments have been carried out on VideoRay ROV and Charlie USV in order to prove that the method gives consistent results. A comparison with the least-squares identification and thorough validation tests have been performed, proving the quality of the obtained parameters. The proposed method can also be used to make conclusions on the model that describes the dynamics of the vessel. The paper also includes results of autopilot design where the controllers are tuned according to the proposed method based on self-oscillations, proving the applicability of the proposed method.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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