Abstract:
In this paper, the problem of designing a Boat Parking Assistance (BPA) system for a small-scale vessel is addressed. A control-oriented model is derived from the physics...Show MoreMetadata
Abstract:
In this paper, the problem of designing a Boat Parking Assistance (BPA) system for a small-scale vessel is addressed. A control-oriented model is derived from the physics underlying the system and gray-box identification is carried out by designing suitable experiments. A 3 DOF cascade control scheme is then implemented to achieve semi-automatic parking and station-keeping. The latter is also shown to be a solid groundwork for future research on fully automatic maneuvering. The proposed strategy is finally tested on stationkeeping and parking of a real vessel.
Published in: 2013 European Control Conference (ECC)
Date of Conference: 17-19 July 2013
Date Added to IEEE Xplore: 02 December 2013
Electronic ISBN:978-3-033-03962-9