• DocumentCode
    2381335
  • 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
  • fYear
    2008
  • fDate
    11-13 June 2008
  • Firstpage
    562
  • Lastpage
    567
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2008
  • Conference_Location
    Seattle, WA
  • ISSN
    0743-1619
  • Print_ISBN
    978-1-4244-2078-0
  • Electronic_ISBN
    0743-1619
  • Type

    conf

  • DOI
    10.1109/ACC.2008.4586551
  • Filename
    4586551
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2381335