کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10399043 | 890424 | 2005 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory](/preview/png/10399043.png)
چکیده انگلیسی
The maneuvering problem involves two tasks. The first, called the geometric task, is to force the system output to converge to a desired path continuously parametrized by a scalar θ. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. In this paper, this dynamic behavior is further specified as a speed assignment for θ(t). While the main concern is to satisfy the geometric task, the dynamic task ensures that the system output follows the path with the desired speed. An adaptive recursive design technique is developed for a parametrically uncertain nonlinear plant describing the dynamics of a ship. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the dynamic task. The design procedure is performed and tested by several experiments for a model ship in a marine control laboratory.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 41, Issue 2, February 2005, Pages 289-298
Journal: Automatica - Volume 41, Issue 2, February 2005, Pages 289-298
نویسندگان
Roger Skjetne, Thor I. Fossen, Petar V. KokotoviÄ,