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Quasi-LPV modeling and identification for a water-jet propulsion USV: an experimental study
Xiong JF(熊俊峰); He YQ(何玉庆); Gu F(谷丰); Li DC(李德才); Han JD(韩建达)
Department机器人学研究室
Conference Name2014 International Conference on Robotics and Biomimetics (ROBIO 2014)
Conference DateDecember 5-10, 2014
Conference PlaceBali, Indonesia
Source Publication2014 International Conference on Robotics and Biomimetics (ROBIO 2014)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages431-436
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152100877044
WOS IDWOS:000380399500072
Contribution Rank1
ISBN978-1-4799-7396-5
AbstractFor an Unmanned Surface Vehicle (USV) system, it is difficult to obtain a precise system model. This is mainly because the USV system is, 1) of extensively complicated and thus presents huge nonlinearities, and 2) easily to be influenced by extensive hydrodynamics. In this paper, our main motivation is to construct a quasi-Linear Parameter Varying (qLPV) dynamical model for a water-jet propulsion USV. The main content of this paper includes two steps: first, theoretical deduction of the qLPV model structure of the USV system is given in detailed including the hydrodynamics; after that, experiments are conducted and the parameter identification results are analyzed to show the priority of the qLPV model compared to some other often referred to models.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15413
Collection机器人学研究室
Corresponding AuthorXiong JF(熊俊峰)
AffiliationState Key Laboratory of Robotics of Shenyang Institute of Automation, University of Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Xiong JF,He YQ,Gu F,et al. Quasi-LPV modeling and identification for a water-jet propulsion USV: an experimental study[C]. Piscataway, NJ, USA:IEEE,2014:431-436.
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