Naslov
Quick Identification and Dynamic Positioning Controller Design for a Small–Scale Ship Model

Autori
Vladić, Viktor ; Mišković, Nikola ; Vukić, Zoran

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

Izvornik
Proceedings of the 2012 20th Mediterranean Conference on Control & Automation (MED) / Albertos, Pedro ; Quevedo, Joseba - Barcelona : Institute of Electrical and Electronics Engineers (IEEE), 2012, 1385-1390

Skup
20th Mediterranean Conference on Control and Automation

Mjesto i datum
Barcelona, Španjolska, 03.07.2012. - 06.07.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Marine control; Unmanned systems; Education and training

Sažetak
Dynamic positioning (DP) in marine robotics is a valuable feature that can significantly improve vessel performance at sea. In order to have satisfactory DP behavior, a sufficiently accurate mathematical model and parameters have to be known. Performing extensive identification trials at sea is a tedious and time consuming task. This paper demonstrates the application of a quick identification method based on self–oscillations (IS–O) applied to all controllable degrees of freedom (surge, sway and yaw) of a small–scale tanker model. In the paper we prove the consistency of the applied identification method. The identified model parameters are then used to tune DP controller parameters. The high quality of the model–based DP controller performance is demonstrated, proving the applicability of the IS– O method for DP controller tuning.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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