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题名: Quasi-LPV modeling and identification for a water-jet propulsion USV: an experimental study
作者: 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: 2014 International Conference on Robotics and Biomimetics (ROBIO 2014)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 431-436
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15413
Appears in Collections:机器人学研究室_会议论文

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