Abstract:
Linear and nonlinear models of a modified commercially available unmanned surface vessel are identified without actuator calibration. The unknown actuator calibration is ...Show MoreMetadata
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.
Published in: 2023 American Control Conference (ACC)
Date of Conference: 31 May 2023 - 02 June 2023
Date Added to IEEE Xplore: 03 July 2023
ISBN Information: