Title :
Heading control design based on self-oscillation identification method applied to Charlie USV
Author :
Miskovic, Nikola ; Bibuli, Marco ; Bruzzone, Gabriele ; Caccia, Massimo ; Vuki, Z.
Author_Institution :
Fac. of Electr. Eng. & Comput., Univ. of Zagreb, Zagreb
Abstract :
Determining a model of marine vehicles for the control purposes can be a very time-consuming process. Much faster identification method has been proposed based on the use of self-oscillation identification method. In this article we demonstrate the use of the proposed method for heading controller tuning of the autonomous unmanned surface vehicle (USV) Charlie. The Charlie USV is a small catamaran-like shape prototype vehicle originally developed by the CNR-ISSIA for the sampling of the sea surface microlayer and immediate subsurface for the study of the sea-air interaction.
Keywords :
control system synthesis; identification; marine vehicles; remotely operated vehicles; Charlie autonomous unmanned surface vehicle; heading control design; marine vehicle model; sea surface microlayer sampling; sea-air interaction; self-oscillation identification method; small catamaran-like shape prototype vehicle; Atmospheric modeling; Conferences; Oceans; Sea surface; Transfer functions; Tuning; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651248
