Title :
Identification of a control oriented nonlinear dynamic USV model
Author :
Muske, Kenneth R. ; Ashrafiuon, Hashem ; Haas, Geoffrey ; McCloskey, Ryan ; Flynn, Timothy
Author_Institution :
Center for Nonlinear Dynamics & Control, Villanova Univ., Villanova, PA
Abstract :
The identification of the parameters in a three degree of freedom nonlinear dynamic surface vessel model using drag test data in each of the axes of motion is presented in this work. Parameter estimates based on the use of terminal velocity measurements and on the use of dynamic position measurements are determined and compared. The identification procedure is carried out on an experimental model boat which is used as the basis for comparison.
Keywords :
boats; nonlinear dynamical systems; parameter estimation; control oriented nonlinear dynamic USV model; dynamic position measurement; experimental model boat; nonlinear dynamic surface vessel model; parameter estimation; parameter identification; terminal velocity measurement; unmanned surface vehicle; Boats; Cameras; Interpolation; Motion control; Parameter estimation; Pixel; Position measurement; Sea surface; Testing; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586551
