Design, Implementation and Modeling of Flooding Disaster-Oriented USV
文献类型：专著章节/文集论文
| 作者 | Xiong JF(熊俊峰) ; Gu F(谷丰); Li DC(李德才); He YQ(何玉庆); Han JD(韩建达)
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| 专著(文集)名 | Recent Advances in Robotic Systems |
| 其他责任者 | Wang, Guanghui |
| 出版日期 | 2016 |
| 出版者 | InTech ; InTech |
| 出版地 | Rijeka, Croatia ; Rijeka, Croatia |
| 出处页码 | 27-45 |
| 关键词 | unmanned surface vehicles quasi-linear parameter varying system active modeling unscented Kalman filter unmanned surface vehicles quasi-linear parameter varying system active modeling unscented Kalman filter |
| 出版者 | InTech ; InTech |
| 出版地 | Rijeka, Croatia ; Rijeka, Croatia |
| 关键词 | unmanned surface vehicles quasi-linear parameter varying system active modeling unscented Kalman filter unmanned surface vehicles quasi-linear parameter varying system active modeling unscented Kalman filter |
| 产权排序 | 1 |
| 中文摘要 | Although 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. |
| ISBN号 | 978-953-51-2570-9 |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/19503]  |
| 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,Gu F,Li DC,et al. Design, Implementation and Modeling of Flooding Disaster-Oriented USV. Recent Advances in Robotic Systems. Rijeka, Croatia, Rijeka, Croatia:InTech, InTech,2016:27-45. |
入库方式： OAI收割
来源：沈阳自动化研究所
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