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Design, Implementation and Modeling of Flooding Disaster-Oriented USV
Xiong JF(熊俊峰); Gu F(谷丰); Li DC(李德才); He YQ(何玉庆); Han JD(韩建达)
Department机器人学研究室
Source PublicationRecent Advances in Robotic Systems
ContributorWang, Guanghui
PublisherInTech
Publication PlaceRijeka, Croatia
2016
ISBN978-953-51-2570-9
Pages27-45
KeywordUnmanned Surface Vehicles Quasi-linear Parameter Varying System Active Modeling Unscented Kalman Filter
AbstractAlthough there exist some unmanned surface platforms, and parts of them have been applied in flooding disaster relief, the autonomy of these platforms is still so weak that most of them can only work under the control of operators. The primary reason is the difficulty of obtaining a dynamical model that is sufficient rich for model-based control and sufficient simple for model parameters identification. This makes them difficult to be used to achieve some high-performance autonomous control, such as robust control with respect to disturbances and unknown dynamics and trajectory tracking control in complicated and dynamical surroundings. In this chapter, a flooding disaster-orient‐ ed unmanned surface vehicle (USV) designed and implemented by Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS) is introduced first, including the hardware and software structures. Then, we propose a quasi-linear parameter varying (qLPV) model to approach the dynamics of the USV system. We first apply this to solve a structured modeling problem and then introduce model error to solve an unstructured modeling problem. Subsequently, the qLPV model identification results are analyzed and the superiority compared to two linear models is demonstrated. At last, extensive application experiments, including rescuing rope throwing using an automatic pneumatic and water sampling in a 2.5 m radius circle, are described in detail to show the performance of course keeping control and GPS point tracking control based on the proposed model.
Language英语
Contribution Rank1
Document Type专著章节/文集论文
Identifierhttp://ir.sia.cn/handle/173321/19503
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics of Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Xiong JF,Gu F,Li DC,et al. Design, Implementation and Modeling of Flooding Disaster-Oriented USV. Recent Advances in Robotic Systems. Rijeka, Croatia:InTech,2016:27-45.
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