Modeling, identification and control of a Boat Parking Assistance system | IEEE Conference Publication | IEEE Xplore

Modeling, identification and control of a Boat Parking Assistance system


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 More

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.
Date of Conference: 17-19 July 2013
Date Added to IEEE Xplore: 02 December 2013
Electronic ISBN:978-3-033-03962-9
Conference Location: Zurich, Switzerland

References

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