Pregled bibliografske jedinice broj: 885469
Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments
Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments // Proceedings of the MST/IEEE OCEANS 2017 - Aberdeen conference,
Aberdeen (MD), 2017. str. 1-6 doi:10.1109/OCEANSE.2017.8084684 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 885469 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments
Autori
Kapetanović, Nadir ; Bibuli, Marco ; Mišković, Nikola ; Caccia, Massimo ; Bruzzone, Gabriele ; Nađ, Đula
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the MST/IEEE OCEANS 2017 - Aberdeen conference,
/ - Aberdeen (MD), 2017, 1-6
ISBN
978-1-5090-5278-3
Skup
MST/IEEE OCEANS 2017 - Aberdeen conference
Mjesto i datum
Aberdeen, Ujedinjeno Kraljevstvo, 19.06.2017. - 22.06.2017
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
unmanned marine vehicles, marine systems navigation, guidance and control, model predictive control, disturbance rejection
Sažetak
A linear model predictive control (LMPC) based framework is developed for underactuated marine vehicles' kinematic line following while moving at a constant depth in the presence of disturbance. LMPC is used as a high level controller which sets the reference surge and yaw velocities for the low level PID tracking controllers. An improved line following performance measure has been used to asses system performance with respect to MPC's parameters. Used ACADO optimization toolbox solves the optimal problem at hand in real- time. This framework has shown good results both in simulation environment and in on-sea experiments.
Izvorni jezik
Engleski
