Quasi-LPV modeling and identification for a water-jet propulsion USV: an experimental study

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Quasi-LPV modeling and identification for a water-jet propulsion USV: an experimental study
	Xiong JF(熊俊峰); He YQ(何玉庆); Gu F(谷丰); Li DC(李德才); Han JD(韩建达)
	2014
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
页码	431-436
通讯作者	熊俊峰
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
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
语种	英语
ISBN号	978-1-4799-7396-5
WOS记录号	WOS:000380399500072
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15413]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Xiong JF,He YQ,Gu F,et al. Quasi-LPV modeling and identification for a water-jet propulsion USV: an experimental study[C]. 见:2014 International Conference on Robotics and Biomimetics (ROBIO 2014). Bali, Indonesia. December 5-10, 2014.