ILOS Guidance - Experiments and Tuning (Contributo in atti di convegno)

Type

• Prodotto della ricerca (Classe)
• Contributo in atti di convegno (Classe)

Label

• ILOS Guidance - Experiments and Tuning (Contributo in atti di convegno) (literal)

Anno

• 2014-01-01T00:00:00+01:00 (literal)

Alternative label

• M. Bibuli, W. Caharija, K. Y. Pettersen, G. Bruzzone, M. Caccia and E. Zereik (2014)
  ILOS Guidance - Experiments and Tuning
  in 19th IFAC World Congress, Cape Town, South Africa, August 2014
  (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori

• M. Bibuli, W. Caharija, K. Y. Pettersen, G. Bruzzone, M. Caccia and E. Zereik (literal)

Pagina inizio

• 4209 (literal)

Pagina fine

• 4214 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#volumeInCollana

• 19 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni

• Consiglio Nazionale delle Ricerche - Istituto di Studi sui Sistemi Intelligenti per l'Automazione; NTNU - Deptartment of Engineering Cybernetics (literal)

Titolo

• ILOS Guidance - Experiments and Tuning (literal)

Abstract

• A recently proposed Integral Line-of-Sight (ILOS) guidance law is applied to an underactuated Unmanned Semi-Submersible Vehicle (USSV) for path following of straight lines. Derived from the popular Line-of-Sight guidance, the ILOS methods adds integral action to increase robustness with respect to environmental disturbances such as sea currents, wind and waves that unavoidably affect maritime operations. Integral action makes the vehicle side-slip and hence compensate for the disturbances acting in the underactuated sway direction. In particular, the integrator of the ILOS implemented in this paper has embodied, analytically derived, anti-windup properties. It is shown that even if an accurate model of the vessel is not available, a simple kinematic model and a few test runs give enough information to correctly choose the guidance law parameters. Data from sea trials are presented to verify the ILOS theory and give an experimental understanding of the behavior of the USSV when different look-ahead distances and integral gains are used. (literal)

Prodotto di

• Institute of intelligent systems for automation (ISSIA) (Istituto)
• Sistemi robotici autonomi e controllo (SP.P03.003.001) (Modulo)

Autore CNR

• GABRIELE BRUZZONE (Unità di personale interno)
• ENRICA ZEREIK (Unità di personale interno)
• MARCO BIBULI (Unità di personale interno)
• MASSIMO CACCIA (Persona)

Incoming links:

Prodotto

• Institute of intelligent systems for automation (ISSIA) (Istituto)
• Sistemi robotici autonomi e controllo (SP.P03.003.001) (Modulo)

Autore CNR di

• GABRIELE BRUZZONE (Unità di personale interno)
• MASSIMO CACCIA (Persona)
• ENRICA ZEREIK (Unità di personale interno)
• MARCO BIBULI (Unità di personale interno)