dc.contributor.author | Eriksen, Bjørn-Olav Holtung | |
dc.contributor.author | Breivik, Morten | |
dc.date.accessioned | 2018-01-24T14:12:50Z | |
dc.date.available | 2018-01-24T14:12:50Z | |
dc.date.created | 2018-01-08T13:28:30Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | Lecture notes in control and information sciences. 2017, 474 407-431. | nb_NO |
dc.identifier.issn | 0170-8643 | |
dc.identifier.uri | http://hdl.handle.net/11250/2479484 | |
dc.description.abstract | This paper considers a powerful approach to modeling, identification, and control of high-speed autonomous surface vehicles (ASVs) operating in the displacement, semi-displacement, and planing regions. The approach is successfully applied to an 8.45 m long ASV capable of speeds up to 18 m/s, resulting in a high-quality control-oriented model. The identified model is used to design four different controllers for the vessel speed and yaw rate, which have been tested through full-scale experiments in the Trondheimsfjord. The controllers are compared using various performance metrics, and two controllers utilizing a model-based feedforward term are shown to achieve outstanding performance. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.relation.uri | https://link.springer.com/chapter/10.1007/978-3-319-55372-6_19 | |
dc.title | Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 407-431 | nb_NO |
dc.source.volume | 474 | nb_NO |
dc.source.journal | Lecture notes in control and information sciences | nb_NO |
dc.identifier.doi | 10.1007/978-3-319-55372-6_19 | |
dc.identifier.cristin | 1537739 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.relation.project | Norges forskningsråd: 244116 | nb_NO |
dc.description.localcode | This chapter will not be available due to copyright restrictions (c) 2017 by Springer | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |