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题名: Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: An Experimental Study
作者: 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: 17th IFAC Symposium on System Identification, SYSID 2015
会议录出版者: IFAC
会议录出版地: Laxenburg, AUSTRIA
出版日期: 2015
页码: 1359-1364
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17471
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Xiong JF,Li DC,He YQ,et al. Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: An Experimental Study[C]. 见:17th IFAC Symposium on System Identification, SYSID 2015. Beijing, China. October 19-21, 2015.
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文件名: Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV An Experimental Study.pdf
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