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Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: An Experimental Study
Xiong JF(熊俊峰); Li DC(李德才); He YQ(何玉庆); Gu F(谷丰); Han JD(韩建达)
作者部门机器人学研究室
会议名称17th IFAC Symposium on System Identification, SYSID 2015
会议日期October 19-21, 2015
会议地点Beijing, China
会议录名称17th IFAC Symposium on System Identification, SYSID 2015
出版者IFAC
出版地Laxenburg, AUSTRIA
2015
页码1359-1364
收录类别EI
EI收录号20163902855848
产权排序1
关键词Active Modeling Identification Quasi-linear Parameter Varying System Unmanned Surface Vehicles Unscented Kalman Filter
摘要Due to the complicated hydrodynamics and disturbances (wind, wave and current), an accurate model of Unmanned Surface Vehicles (USVs) that is rich for model-based control and simple for parameters identification is difficult to be determined. To handle this problem, an active Quasi-Linear Parameter Varying (qLPV) modeling method is proposed. The model is composed of two parts: a structured model and an online estimated additional error model. Specifically, the qLPV model is derived from the nonlinear physics of the USV to approach the real dynamics as accurate as possible. Subsequently, the UKF based active modeling technique is proposed to estimate the model error online and eliminate the impact of mismatch between the qLPV model and the real one. Finally, the new proposed model is identified and the model’s priority compared to some other USV models is proved by extensive experiments.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17471
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics of Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Xiong JF,Li DC,He YQ,et al. Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: An Experimental Study[C]. Laxenburg, AUSTRIA:IFAC,2015:1359-1364.
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