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Pregled bibliografske jedinice broj: 984911

Centroid vectoring for attitude control of floating base robots: from maritime to aerial applications

Haus, Tomislav; Orsag, Matko; Nunez, Alberto Perez; Bogdan, Stjepan; Lofaro, Daniel M.
Centroid vectoring for attitude control of floating base robots: from maritime to aerial applications // IEEE access, 1 (2019), 1-1 doi:10.1109/access.2019.2893586 (međunarodna recenzija, članak, znanstveni)

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Naslov
Centroid vectoring for attitude control of floating base robots: from maritime to aerial applications
(Centroid vectoring for attitude control of oating base robots: from maritime to aerial applications)

Autori
Haus, Tomislav ; Orsag, Matko ; Nunez, Alberto Perez ; Bogdan, Stjepan ; Lofaro, Daniel M.

Izvornik
IEEE access (2169-3536) 1 (2019); 1-1

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

Ključne riječi
Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.
(Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.)

Sažetak
In this paper, we show the uses of centroid vectoring for attitude control of oating base robots. To derive the control algorithm, we utilize dynamical and kinematic robot model, and ubiquitous Jacobian matrix, which allows us to control the orientation of the main body of a robot by adjusting the control input to its actuators. Controlling the orientation of the main body of a robot is important because it is typically where the sensors, scientic payload, and/or manipulators are attached. The experiments on aerial and underwater vehicles using the same algorithm show how this method can translate across different platforms and actuation methods. The simulation and experimental results are shown in this paper on air (MORUS) and sea (AquaShoko) platforms.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Stjepan Bogdan (autor)

Avatar Url Tomislav Haus (autor)

Avatar Url Matko Orsag (autor)

Poveznice na cjeloviti tekst rada:

doi ieeexplore.ieee.org

Citiraj ovu publikaciju:

Haus, Tomislav; Orsag, Matko; Nunez, Alberto Perez; Bogdan, Stjepan; Lofaro, Daniel M.
Centroid vectoring for attitude control of floating base robots: from maritime to aerial applications // IEEE access, 1 (2019), 1-1 doi:10.1109/access.2019.2893586 (međunarodna recenzija, članak, znanstveni)
Haus, T., Orsag, M., Nunez, A., Bogdan, S. & Lofaro, D. (2019) Centroid vectoring for attitude control of floating base robots: from maritime to aerial applications. IEEE access, 1, 1-1 doi:10.1109/access.2019.2893586.
@article{article, author = {Haus, Tomislav and Orsag, Matko and Nunez, Alberto Perez and Bogdan, Stjepan and Lofaro, Daniel M.}, year = {2019}, pages = {1-1}, DOI = {10.1109/access.2019.2893586}, keywords = {Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.}, journal = {IEEE access}, doi = {10.1109/access.2019.2893586}, volume = {1}, issn = {2169-3536}, title = {Centroid vectoring for attitude control of floating base robots: from maritime to aerial applications}, keyword = {Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.} }
@article{article, author = {Haus, Tomislav and Orsag, Matko and Nunez, Alberto Perez and Bogdan, Stjepan and Lofaro, Daniel M.}, year = {2019}, pages = {1-1}, DOI = {10.1109/access.2019.2893586}, keywords = {Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.}, journal = {IEEE access}, doi = {10.1109/access.2019.2893586}, volume = {1}, issn = {2169-3536}, title = {Centroid vectoring for attitude control of oating base robots: from maritime to aerial applications}, keyword = {Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus

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