Nonlinear Modeling for a Water-Jet Propulsion USV: An Experimental Study
文献类型：期刊论文
| 作者 | Han JD(韩建达) ; Xiong JF(熊俊峰); He YQ(何玉庆); Gu F(谷丰); Li DC(李德才)
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| 刊名 | IEEE Transactions on Industrial Electronics
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| 出版日期 | 2017 |
| 卷号 | 64期号:4页码:3348-3358 |
| 关键词 | Unmanned Surface Vehicles Quasi-Linear Parameter Varying System Active Modeling UnscentedKalman Filter |
| ISSN号 | 0278-0046 |
| 产权排序 | 1 |
| 通讯作者 | 何玉庆 |
| 中文摘要 | Although unmanned surface vehicles (USVs) have been extensively researched and applied to many typical scenarios, high performance autonomous control is still an open problem. One of their major problem stems from the difficulty in constructing a sufficient accurate and sufficient simple control-oriented dynamics model. Owing to the highly complicated physical mechanisms of hydrodynamics, USV systems possess strong nonlinearities and coupling, which make it exceptionally difficult to develop an accurate model structure. In real applications, extensively existing uncertainties, such as external disturbances due to wind, wave, current and measurement noise in the onboard sensor, will unavoidably influence identification precision with respect to the parameters in the USV’s model. Thus, in this paper, a new kind of nonlinear modeling scheme—the active modeling enhanced qLPV model—is proposed for a water-jet propulsion USV system. First, a qLPV structured model is derived by simplifying the real dynamics model, which has a simple quasi-linear structure and can approximate the nonlinearities of the hydrodynamics. Subsequently, a nonlinear version of the Kalman filter-based active modeling method is proposed to provide online estimates of the unstructured model to eliminate the errors due to the structure inaccuracy between the qLPV structured model and the real system. Finally, the newly proposed modeling scheme is tested on a real USV system and its superiority is shown through comparisons to some other traditional modeling methods. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
| 研究领域[WOS] | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 关键词[WOS] | IDENTIFICATION ; DYNAMICS ; SHIP |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000397770200082 |
| 源URL | [http://ir.sia.cn/handle/173321/19720]  |
| 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 | Han JD,Xiong JF,He YQ,et al. Nonlinear Modeling for a Water-Jet Propulsion USV: An Experimental Study[J]. IEEE Transactions on Industrial Electronics,2017,64(4):3348-3358. |
| APA | Han JD,Xiong JF,He YQ,Gu F,&Li DC.(2017).Nonlinear Modeling for a Water-Jet Propulsion USV: An Experimental Study.IEEE Transactions on Industrial Electronics,64(4),3348-3358. |
| MLA | Han JD,et al."Nonlinear Modeling for a Water-Jet Propulsion USV: An Experimental Study".IEEE Transactions on Industrial Electronics 64.4(2017):3348-3358. |
入库方式： OAI收割
来源：沈阳自动化研究所
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