Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: An Experimental Study
文献类型：会议论文
| 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)
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| 出版日期 | 2015 |
| 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 |
| 关键词 | Active Modeling Identification Quasi-Linear Parameter Varying System Unmanned Surface Vehicles Unscented Kalman Filter |
| 页码 | 1359-1364 |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 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 |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/17471]  |
| 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,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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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