Electronics Optics & Control, Volume. 25, Issue 8, 28(2018)
A Parameter Identification Algorithm of Nonlinear K-T Model for USVs
As a small surface intelligent task platformthe Unmanned Surface Vessels (USV) have such advantages as good mobilitystrong concealmentand a high degree of automationwhich have become a hot spot of research at home and abroad.The USV manipulating model is the basis for the realization of such control operations as autonomous navigation and intelligent obstacle avoidanceand its identifying accuracy directly affects the quality of the final control effect.In order to overcome the effect of “parameter cancellation” occurring in the identifying processand to improve its identifying accuracyan algorithm for model parameter identification based on the step-by-step processing of experimental data is presented.The working procedures of the algorithm are given in detailand the model parameters are obtained by a manipulating test operated on the lake.Finallyan experiment is implemented on the identified USV model and a real USV respectivelyand the correctness of the identified model is verified through a comparison between the experimental data and the simulation results.
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CHEN Xiao, LIU Zhong, JIANG Xiao-zheng, DONG Jiao. A Parameter Identification Algorithm of Nonlinear K-T Model for USVs[J]. Electronics Optics & Control, 2018, 25(8): 28
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Received: Sep. 17, 2017
Accepted: --
Published Online: Aug. 21, 2018
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