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

fYear

2008

fDate

22-26 Sept. 2008

Firstpage

4193

Lastpage

4193

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Conference_Location

Nice

Print_ISBN

978-1-4244-2057-5

Type

conf

DOI

10.1109/IROS.2008.4651248

Filename

4651248