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Conference Paper
Identifying Kinetic Model Parameters and Implementing 3-DOF Control for a Dual-Thruster USV: A Case Study Using the VRX Simulation Environment
- Authors
- Jungeun Yoon, Rockwon Kim
- Issue Date
- 2024-11
- Citation
- International Conference on Informatics in Control, Automation and Robotics (ICINCO) 2024, pp.368-375
- Language
- English
- Type
- Conference Paper
- Abstract
- This study addresses the challenge of creating accurate kinetic model-based simulations for Unmanned Sur face Vehicles (USVs) that replicate the VRX simulation environment. Without precise parameter estimation, discrepancies arise between kinetic model-based position predictions and the USV’s position in the VRX sim ulation. We propose a comprehensive method for parameter estimation to bridge this gap, coupled with a Dynamical PD+LOS controller to further minimize operational differences. In the control using the kinetic model with the best fit thrust parameters and drag coefficients, the turning radius may vary depending on these parameters. To handle this, it not only calculates the thrust difference based on the heading error but also dynamically adjusts the base thrust according to the speed and distance to the target. This approach prevents over-correction and ensures better alignment between the kinetic model prediction path and VRX movement. The proposed methodology was validated through circle and zigzag path tests. Results demonstrated high f idelity, with position errors of 2% and time errors of 0.37% between the VRX and kinetic model.
- KSP Keywords
- 3-DOF, Case studies, Comprehensive method, Coupled with, DOF control, Drag coefficients, Kinetic Model, Model parameter, Position error, Precise parameter estimation, Simulation Environment
This work is distributed under the term of Creative Commons License (CCL)
(CC BY NC ND)
(CC BY NC ND)
