Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Miskovic N., Bibuli M., Bruzzone G., Caccia M., Vukic Z. Heading control design based on self-oscillation identification method applied to Charlie USV. In: IROS - International Conference on Intelligent Robots and Systems (Nice, France, 22-26 September 2008). Proceedings, pp. 4193 - 4193. Raja Chatila, Alonzo Kelly, Jean-Pierre Merlet (eds.). IEE, 2008.
Determining a model of marine vehicles for the control purposes can be a very time-consuming process. Having this in mind, in [3] a much faster identification method has been proposed based on the use of self-oscillation identification method. Here we demonstrate the use of the proposed method for heading controller tuning of the autonomous unmanned surface vehicle (USV) Charlie.
DOI: 10.1109/IROS.2008.4651248
Subject Charlie USV

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