System identification-based control of an unmanned autonomous wind-propelled catamaran
نویسندگان
چکیده
منابع مشابه
System identification-based control of an unmanned autonomous wind-propelled catamaran
An autonomous catamaran, based on a modified Prindle-19 day-sailing catamaran and fitted with several sensors and actuators was built to test the viability of GPS-based system identification for precision control. Using an electric trolling motor for propulsion, and lead ballast to match all-up weight, several system identification passes were performed to excite system modes and model the dyna...
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Recent experimental testing of an unmanned autonomous marine surface vehicle has demonstrated several key advances in control system performance for a wind propelled platform. The HWT X-1 is a winged catamaran based on a modi ed conventional sailing vessel intended for use as a surveillance and sensor platform in either littoral or unprotected waters. Using GPS and an o¤the-shelf commercial Att...
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The following information has been extracted from the thesis submitted by Dr. Gabriel Elkaim to Stanford University, and for which he was awarded his Ph.D. The full thesis, which can be viewed at http://www.soe.ucsc.edu/~elkaim/Documents/GabrielElkaimThesis01.pdf (and an extract published in the AYRS’s Journal ‘Catalyst’ which can be found at http://www.soe.ucsc.edu/~elkaim/Documents/Catalyst_B...
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Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Curren...
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ژورنال
عنوان ژورنال: Control Engineering Practice
سال: 2009
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2008.05.014