Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: An Experimental Study

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	Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: An Experimental Study
	Xiong JF(熊俊峰); Li DC(李德才); He YQ(何玉庆); Gu F(谷丰); Han JD(韩建达)
	2015
会议名称	17th IFAC Symposium on System Identification, SYSID 2015
会议日期	October 19-21, 2015
会议地点	Beijing, China
关键词	Active Modeling Identification Quasi-Linear Parameter Varying System Unmanned Surface Vehicles Unscented Kalman Filter
页码	1359-1364
中文摘要	Due to the complicated hydrodynamics and disturbances (wind, wave and current), an accurate model of Unmanned Surface Vehicles (USVs) that is rich for model-based control and simple for parameters identification is difficult to be determined. To handle this problem, an active Quasi-Linear Parameter Varying (qLPV) modeling method is proposed. The model is composed of two parts: a structured model and an online estimated additional error model. Specifically, the qLPV model is derived from the nonlinear physics of the USV to approach the real dynamics as accurate as possible. Subsequently, the UKF based active modeling technique is proposed to estimate the model error online and eliminate the impact of mismatch between the qLPV model and the real one. Finally, the new proposed model is identified and the model’s priority compared to some other USV models is proved by extensive experiments.
收录类别	EI
产权排序	1
会议录	17th IFAC Symposium on System Identification, SYSID 2015
会议录出版者	IFAC
会议录出版地	Laxenburg, AUSTRIA
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17471]
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,Li DC,He YQ,et al. Active Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: An Experimental Study[C]. 见:17th IFAC Symposium on System Identification, SYSID 2015. Beijing, China. October 19-21, 2015.