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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)
作者部门机器人学研究室
会议名称2014 International Conference on Robotics and Biomimetics (ROBIO 2014)
会议日期December 5-10, 2014
会议地点Bali, Indonesia
会议录名称2014 International Conference on Robotics and Biomimetics (ROBIO 2014)
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码431-436
收录类别EI ; CPCI(ISTP)
EI收录号20152100877044
WOS记录号WOS:000380399500072
产权排序1
ISBN号978-1-4799-7396-5
摘要For 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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15413
专题机器人学研究室
通讯作者Xiong JF(熊俊峰)
作者单位State Key Laboratory of Robotics of Shenyang Institute of Automation, University of Chinese Academy of Sciences, Shenyang, China
推荐引用方式
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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