Naslov
Tracking Underwater Target Using Extremum Seeking

Autori
Mandić, Filip ; Mišković, Nikola

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

Izvornik
Proceedings of the 4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2015) / Ridao, Pere ; Carreras, Marc ; Ribas , David - Girona : International Federation of Automatic Control (IFAC), 2015, 149-154

Skup
4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2015)

Mjesto i datum
Girona, Španjolska, 28.04.2015. - 30.04.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Extremum seeking ; Autonomous vehicles ; Marine systems ; Gradients ; Sampled data

Sažetak
In this paper problem of source--seeking and tracking underwater target by surface vehicle using range measurements with low sampling rate is addressed. Paper compares three extremum seeking schemes: classical extremum seeking, EKF based gradient estimation extremum seeking and EKF based gradient estimation extremum seeking enhanced with static function model data. It is shown that using additional model information can improve gradient estimation when dealing with intermittent range measurements.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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