dc.contributor.author | Eriksen, Bjørn-Olav Holtung | |
dc.contributor.author | Breivik, Morten | |
dc.date.accessioned | 2018-02-09T09:17:06Z | |
dc.date.available | 2018-02-09T09:17:06Z | |
dc.date.created | 2017-06-15T14:04:55Z | |
dc.date.issued | 2017 | |
dc.identifier.isbn | 978-3-319-55371-9 | |
dc.identifier.uri | http://hdl.handle.net/11250/2483676 | |
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 8.45m8.45m long ASV capable of speeds up to 18m/s18m/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.publisher | Springer Verlag | nb_NO |
dc.relation.ispartof | Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles | |
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.identifier.doi | 10.1007/978-3-319-55372-6_19 | |
dc.identifier.cristin | 1476418 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.relation.project | Norges forskningsråd: 244116 | nb_NO |
dc.description.localcode | This is a post-peer-review, pre-copyedit version of an article published in [Lecture notes in control and information sciences]. Locked until 28.5.2018 due to copyright restrictions. The final authenticated version is available online at: https://link.springer.com/chapter/10.1007%2F978-3-319-55372-6_19#enumeration | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |