NDLI: Marine vehicles' line following controller tuning through self-oscillation experiments

Content Provider	IEEE Xplore Digital Library
Author	Miskovic, N. Vukic, Z. Bibuli, M. Caccia, M. Bruzzone, G.
Copyright Year	2009
Description	Author affiliation: Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, Croatia (Miskovic, N.; Vukic, Z.) \|\| Consiglio Nazionale delle Ricerche, ISSIA, Via de Marini 6, Genova, Italy (Bibuli, M.; Caccia, M.; Bruzzone, G.)
Abstract	This paper demonstrates the use of self-oscillation identification experiments for tuning line following controllers for marine vehicles. Two approaches are described: first, when the controller output is yaw rate and second when controller output is reference heading. In the first case, low level controller is yaw rate while in the second it is heading controller. The identification by use of self-oscillations (IS-O) has been applied to identify the steering equation (for the case of the first controller) and it was used to identify the heading closed loop (for the case of the second controller). The second controller has been tested on different inner loop structures in order to prove the functionality of the method. The IS-O method has been chosen because of its simplicity and applicability in the field (effects of external disturbances are minimized). The methodology was applied to autonomous catamaran Charlie. The results are presented in the paper and demonstrate that the proposed method for identification as well as the developed algorithms give satisfactory performance. All algorithms and results presented here are a result of a joint work of researchers at the Consiglio Nazionale delle Ricerche, Genova and the University of Zagreb.
Starting Page	916
Ending Page	921
File Size	362438
Page Count	6
File Format	PDF
ISBN	9781424446841
DOI	10.1109/MED.2009.5164662
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-24
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sea surface Automation Velocity control Automatic control Mathematical model Marine vehicles Motion control Surges Equations Testing
Content Type	Text
Resource Type	Article

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