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Model Identification of an Unmanned Surface Vessel without Actuator Calibration | IEEE Conference Publication | IEEE Xplore

Model Identification of an Unmanned Surface Vessel without Actuator Calibration


Abstract:

Linear and nonlinear models of a modified commercially available unmanned surface vessel are identified without actuator calibration. The unknown actuator calibration is ...Show More

Abstract:

Linear and nonlinear models of a modified commercially available unmanned surface vessel are identified without actuator calibration. The unknown actuator calibration is represented by a piecewise linear function of the normalized force, the actuator force divided by the unknown maximum force. The drag coefficients are estimated in terms of the normalized force using the experimental steady-state response and the maximum force is estimated using the experimental transient response. The models are validated via simulation and by comparison with a previously-developed model for an unmodified version of the unmanned surface vessel.
Date of Conference: 31 May 2023 - 02 June 2023
Date Added to IEEE Xplore: 03 July 2023
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Conference Location: San Diego, CA, USA

References

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