http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Astrid H. Brodtkorb (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
-
Control Allocation for Double-ended Ferries with Full-scale Experimental Results
Tobias R. Torben,Astrid H. Brodtkorb,Asgeir J. Sørensen 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.3
A novel control allocation algorithm for double-ended ferries with symmetrical thruster configuration is proposed. The allocation problem is formulated using the extended thrust representation, resulting in a four dimensional constrained optimization problem. Using the thrust configuration constraint, the optimization problem is reduced to a scalar bounded optimization problem, for which there exists fast solvers. We propose a cost function and bounds such that the allocation algorithm supports the standard way of performing manual thruster control on ferries. The real-time performance of the proposed algorithm is demonstrated in a simulation study, and in full-scale experiments.
-
Hybrid Observer Concept for Sensor Fusion of Sporadic Measurements for Underwater Navigation
Jens E. Bremnes,Astrid H. Brodtkorb,Asgeir J. Sørensen 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.1
Accurate underwater navigation systems are required for closed-loop guidance and control of unmannedunderwater vehicles (UUV). This paper proposes a sensor-based hybrid translational observer concept for underwater navigation using the hybrid dynamical systems framework, accounting for noisy, asynchronous and sporadicsensor measurements. Sensor measurements from an acoustic positioning system, a Doppler Velocity Log (DVL),an Inertial Measurement Unit (IMU) and a pressure gauge are used in the proposed observer. A method for filteringhigh-frequency noise is proposed, where the estimated states are obtained by taking a weighted discounted averageof a finite number of previous measurements predicted forwards to the current time. The attitude of the vehicle isassumed known, and the acceleration measurements are assumed to be continuously available. Measurements ofposition, depth and linear velocity are assumed to be asynchronous and sporadically available, that is, they do notarrive at the same time, and their sampling rates are not constant. Uniform global asymptotic stability (UGAS) is established using Lyapunov theory for hybrid systems. Results from simulations are presented in order to demonstratethe performance of the proposed method.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
