Control oriented modeling of a twin thruster autonomous surface vehicle
This work investigates and identifies a first principles maneuvering model for a small size robotic twin thruster autonomous surface vessel (ASV) that includes and explains the sources of nonlinearity and asymmetry of this class of robots. With respect to state of the art ASV models, the proposed on...
Saved in:
| Published in | Ocean engineering Vol. 243; p. 110260 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.01.2022
|
| Subjects | |
| Online Access | Get full text |
Cover
Loading…
| Abstract | This work investigates and identifies a first principles maneuvering model for a small size robotic twin thruster autonomous surface vessel (ASV) that includes and explains the sources of nonlinearity and asymmetry of this class of robots. With respect to state of the art ASV models, the proposed one accounts for the effects generating a transverse thrust, explaining the asymmetric turning radii. The model also accounts for the need to adapt the hydrodynamic derivatives when the ASV performs large or tight turns. An experimental dataset has been acquired using the ULISSE ASV and it is used to support the proposed model in comparison to the “baseline” one often used in the literature. The improved precision of the proposed model in fitting experimental data is a necessary prerequisite to design model-based motion controller and navigation systems with enhanced performance.
•Twin thruster autonomous surface vessel robots exhibit several modeling issues.•Angular drag changes on tight curves w.r.t. straight paths or large curves.•Twin propeller thrusters generate asymmetric port/starboard turning dynamics.•The paper contribution refers to an enhanced lumped parameter model.•The proposed model is experimentally identified and validated. |
|---|---|
| AbstractList | This work investigates and identifies a first principles maneuvering model for a small size robotic twin thruster autonomous surface vessel (ASV) that includes and explains the sources of nonlinearity and asymmetry of this class of robots. With respect to state of the art ASV models, the proposed one accounts for the effects generating a transverse thrust, explaining the asymmetric turning radii. The model also accounts for the need to adapt the hydrodynamic derivatives when the ASV performs large or tight turns. An experimental dataset has been acquired using the ULISSE ASV and it is used to support the proposed model in comparison to the “baseline” one often used in the literature. The improved precision of the proposed model in fitting experimental data is a necessary prerequisite to design model-based motion controller and navigation systems with enhanced performance.
•Twin thruster autonomous surface vessel robots exhibit several modeling issues.•Angular drag changes on tight curves w.r.t. straight paths or large curves.•Twin propeller thrusters generate asymmetric port/starboard turning dynamics.•The paper contribution refers to an enhanced lumped parameter model.•The proposed model is experimentally identified and validated. |
| ArticleNumber | 110260 |
| Author | Simetti, Enrico Indiveri, Giovanni |
| Author_xml | – sequence: 1 givenname: Enrico orcidid: 0000-0003-4488-4680 surname: Simetti fullname: Simetti, Enrico email: enrico.simetti@unige.it – sequence: 2 givenname: Giovanni orcidid: 0000-0001-8683-2948 surname: Indiveri fullname: Indiveri, Giovanni |
| BookMark | eNqFkMFKAzEURYMo2FZ_QfIDM74kM3EGXChFq1Bwo-uQyby0KdNEkkzFv7elunHT1V2dC-dMybkPHgm5YVAyYPJ2UwaD2qNflRw4KxkDLuGMTFhzJ4qa1805mQDwtmiANZdkmtIGAKQEMSGLefA5hoGG6NBn7Ok29Dg4v6LBUk3zl_M0r-OYMkaqxxx82IYx0TRGqw3SHa6dGfCKXFg9JLz-3Rn5eH56n78Uy7fF6_xxWRjBeC6EFoJV0HXYGqOrums7W_dtrWUD0GjQTVdZlNbWyDsG2lTGAK8kdqI3rBdiRu6PvyaGlCJaZVzW2R0stBsUA3WIojbqL4o6RFHHKHtc_sM_o9vq-H0afDiCuJfbOYwqmX0wg72LaLLqgzt18QNcvIQS |
| CitedBy_id | crossref_primary_10_1016_j_oceaneng_2022_113311 crossref_primary_10_3390_s22093544 crossref_primary_10_1016_j_oceaneng_2024_120098 crossref_primary_10_1016_j_oceaneng_2022_112941 crossref_primary_10_1016_j_oceaneng_2024_117831 crossref_primary_10_1016_j_ifacol_2024_10_031 crossref_primary_10_1016_j_oceaneng_2022_113529 |
| Cites_doi | 10.1016/j.conengprac.2018.03.015 10.1109/OCEANS.1997.624102 10.1109/48.820747 10.1109/48.809273 10.1016/j.apor.2018.06.011 10.1002/rob.21452 10.1016/j.ifacol.2018.09.494 10.4173/mic.2004.1.1 10.1016/j.arcontrol.2018.10.002 10.1016/j.arcontrol.2016.04.018 10.1002/rob.20367 10.1109/TCST.2008.922602 10.1016/j.conengprac.2019.104116 10.1016/S1474-6670(17)31766-4 10.1109/JOE.2013.2280074 10.1002/rob.21986 10.1109/TCST.2014.2303805 10.1007/BF01582221 10.1002/j.2161-4296.1996.tb01929.x 10.1007/s10514-008-9100-0 10.1137/0806023 10.1016/S1474-6670(17)46514-1 |
| ContentType | Journal Article |
| Copyright | 2021 Elsevier Ltd |
| Copyright_xml | – notice: 2021 Elsevier Ltd |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.oceaneng.2021.110260 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering Oceanography |
| EISSN | 1873-5258 |
| ExternalDocumentID | 10_1016_j_oceaneng_2021_110260 S0029801821015699 |
| GroupedDBID | --K --M -~X .DC .~1 0R~ 123 1B1 1~. 1~5 4.4 457 4G. 5VS 7-5 71M 8P~ 9JM 9JN AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAXUO ABFYP ABJNI ABLST ABMAC ABYKQ ACDAQ ACGFS ACRLP ADBBV ADEZE ADTZH AEBSH AECPX AEKER AENEX AFKWA AFTJW AFXIZ AGHFR AGUBO AGYEJ AHEUO AHHHB AHJVU AIEXJ AIKHN AITUG AJOXV AKIFW ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AXJTR BJAXD BKOJK BLECG BLXMC CS3 DU5 EBS EFJIC EFLBG EO8 EO9 EP2 EP3 FDB FIRID FNPLU FYGXN G-Q GBLVA IHE J1W JJJVA KCYFY KOM LY6 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 ROL RPZ SDF SDG SES SPC SPCBC SSJ SST SSZ T5K TAE TN5 XPP ZMT ~02 ~G- 29N 6TJ AAQXK AATTM AAXKI AAYWO AAYXX ABFNM ABWVN ABXDB ACKIV ACNNM ACRPL ACVFH ADCNI ADMUD ADNMO AEIPS AEUPX AFFNX AFJKZ AFPUW AGCQF AGQPQ AGRNS AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP ASPBG AVWKF AZFZN BNPGV CITATION EJD FEDTE FGOYB G-2 HVGLF HZ~ R2- RIG SAC SET SEW SSH WUQ |
| ID | FETCH-LOGICAL-c312t-3a33140bbe9cca45b9bf5d95a68008a0a8b4fe6ff5e2b10ac4cc0246eb3dc1d33 |
| IEDL.DBID | .~1 |
| ISSN | 0029-8018 |
| IngestDate | Tue Jul 01 02:14:51 EDT 2025 Thu Apr 24 23:11:29 EDT 2025 Fri Feb 23 02:41:10 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Autonomous surface vehicles Identification Marine robotics Modeling |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c312t-3a33140bbe9cca45b9bf5d95a68008a0a8b4fe6ff5e2b10ac4cc0246eb3dc1d33 |
| ORCID | 0000-0003-4488-4680 0000-0001-8683-2948 |
| ParticipantIDs | crossref_citationtrail_10_1016_j_oceaneng_2021_110260 crossref_primary_10_1016_j_oceaneng_2021_110260 elsevier_sciencedirect_doi_10_1016_j_oceaneng_2021_110260 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2022-01-01 2022-01-00 |
| PublicationDateYYYYMMDD | 2022-01-01 |
| PublicationDate_xml | – month: 01 year: 2022 text: 2022-01-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationTitle | Ocean engineering |
| PublicationYear | 2022 |
| Publisher | Elsevier Ltd |
| Publisher_xml | – name: Elsevier Ltd |
| References | Marquardt, Alvarez, von Ellenrieder (b25) 2013; 39 Bates, Watts (b3) 1988 Coleman, Li (b7) 1994; 67 Du, Hu, Krstić, Sun (b10) 2018; 76 Simetti, Torelli, Sperindé (b31) 2016; 57 Caccia, Bibuli, Bono, Bruzzone (b4) 2008; 25 Fossen (b17) 2011 Haseltalab, Negenborn (b20) 2019; 91 Fossen (b16) 1994 Curcio, Leonard, Patrikalakis (b9) 2005 Sonnenburg, Woolsey (b35) 2013; 30 Dunbabin, Grinham, Udy (b11) 2009 Smogeli, Sørensen, Fossen (b33) 2004; 37 Caccia, Bruzzone, Bono (b5) 2006 Manley, J., 1997. Development of the autonomous surface craft ACES. In: Oceans ’97. MTS/IEEE Conference Proceedings, Vol. 2, Halifax, Nova Scotia, Canada, pp. 827–832. Simetti, Indiveri, Pascoal (b30) 2021; 38 Ferreira, Almeida, Martins, Almeida, Dias, Dias, Silva (b15) 2009 Guerreiro, Silvestre, Cunha, Pascoal (b19) 2014; 22 Coleman, Li (b8) 1996; 6 Eriksen, Breivik (b14) 2017 Peng, Wang, Wang, Han (b28) 2020 Liu, Zhang, Yu, Yuan (b22) 2016; 41 Vaneck, Manley, Rodriguez, Schmidt (b38) 1996; 43 Majohr, Buch (b23) 2006 Taylor (b37) 1997 Zereik, Bibuli, Mišković, Ridao, Pascoal (b42) 2018; 46 Bachmayer, Whitcomb, Grosenbaugh (b2) 2000; 25 (b34) 1950 Pivano, Johansen, Smogeli (b29) 2009; 17 Carlton (b6) 2018 Whitcomb, Yoerger (b39) 1999; 24 Alves, Oliveira, Oliveira, Pascoal, Rufino, Sebastiao, Silvestre (b1) 2006 Woo, Park, Yu, Kim (b41) 2018; 78 Fossen (b18) 2012 Sørensen, Ådnanes, Fossen, Strand (b36) 1997; 30 Häusler, A.J., Saccon, A., Hauser, J., Pascoal, A.M., Aguiar, A.P., 2015. A novel four-quadrant propeller model. In: Fourth International Symposium on Marine Propulsors (SMP 15), Austin, Texas, USA, pp. 498–506. Naeem, Xu, Sutton, Tiano (b26) 2008; 222 Peeters, Boonen, Vanierschot, DeFilippo, Robinette, Slaets (b27) 2018; 51 Wirtensohn, Reuter, Blaich, Schuster, Hamburger (b40) 2013 Skjetne, Smogeli, Fossen (b32) 2004; 25 Elkins, Sellers, Monach (b13) 2010; 27 Ebken, Bruch, Lum (b12) 2005 Elkins (10.1016/j.oceaneng.2021.110260_b13) 2010; 27 Fossen (10.1016/j.oceaneng.2021.110260_b17) 2011 Guerreiro (10.1016/j.oceaneng.2021.110260_b19) 2014; 22 Whitcomb (10.1016/j.oceaneng.2021.110260_b39) 1999; 24 Alves (10.1016/j.oceaneng.2021.110260_b1) 2006 Dunbabin (10.1016/j.oceaneng.2021.110260_b11) 2009 Eriksen (10.1016/j.oceaneng.2021.110260_b14) 2017 Curcio (10.1016/j.oceaneng.2021.110260_b9) 2005 Sonnenburg (10.1016/j.oceaneng.2021.110260_b35) 2013; 30 Zereik (10.1016/j.oceaneng.2021.110260_b42) 2018; 46 Ebken (10.1016/j.oceaneng.2021.110260_b12) 2005 Simetti (10.1016/j.oceaneng.2021.110260_b31) 2016; 57 Skjetne (10.1016/j.oceaneng.2021.110260_b32) 2004; 25 Bates (10.1016/j.oceaneng.2021.110260_b3) 1988 Fossen (10.1016/j.oceaneng.2021.110260_b16) 1994 Marquardt (10.1016/j.oceaneng.2021.110260_b25) 2013; 39 Du (10.1016/j.oceaneng.2021.110260_b10) 2018; 76 Coleman (10.1016/j.oceaneng.2021.110260_b7) 1994; 67 Liu (10.1016/j.oceaneng.2021.110260_b22) 2016; 41 Sørensen (10.1016/j.oceaneng.2021.110260_b36) 1997; 30 Caccia (10.1016/j.oceaneng.2021.110260_b4) 2008; 25 Haseltalab (10.1016/j.oceaneng.2021.110260_b20) 2019; 91 Fossen (10.1016/j.oceaneng.2021.110260_b18) 2012 Vaneck (10.1016/j.oceaneng.2021.110260_b38) 1996; 43 Majohr (10.1016/j.oceaneng.2021.110260_b23) 2006 Taylor (10.1016/j.oceaneng.2021.110260_b37) 1997 Smogeli (10.1016/j.oceaneng.2021.110260_b33) 2004; 37 Ferreira (10.1016/j.oceaneng.2021.110260_b15) 2009 (10.1016/j.oceaneng.2021.110260_b34) 1950 Peeters (10.1016/j.oceaneng.2021.110260_b27) 2018; 51 Woo (10.1016/j.oceaneng.2021.110260_b41) 2018; 78 Peng (10.1016/j.oceaneng.2021.110260_b28) 2020 Pivano (10.1016/j.oceaneng.2021.110260_b29) 2009; 17 Carlton (10.1016/j.oceaneng.2021.110260_b6) 2018 Bachmayer (10.1016/j.oceaneng.2021.110260_b2) 2000; 25 10.1016/j.oceaneng.2021.110260_b21 Wirtensohn (10.1016/j.oceaneng.2021.110260_b40) 2013 Caccia (10.1016/j.oceaneng.2021.110260_b5) 2006 10.1016/j.oceaneng.2021.110260_b24 Coleman (10.1016/j.oceaneng.2021.110260_b8) 1996; 6 Naeem (10.1016/j.oceaneng.2021.110260_b26) 2008; 222 Simetti (10.1016/j.oceaneng.2021.110260_b30) 2021; 38 |
| References_xml | – volume: 25 start-page: 3 year: 2004 ident: b32 article-title: A nonlinear ship manoeuvering model: Identification and adaptive control with experiments for a model ship publication-title: Model. Identif. Control – year: 2020 ident: b28 article-title: An overview of recent advances in coordinated control of multiple autonomous surface vehicles publication-title: IEEE Trans. Ind. Inf. – year: 1988 ident: b3 article-title: Nonlinear Regression Analysis and its Applications – volume: 24 start-page: 495 year: 1999 end-page: 506 ident: b39 article-title: Preliminary experiments in model-based thruster control for underwater vehicle positioning publication-title: IEEE J. Ocean. Eng. – volume: 37 start-page: 409 year: 2004 end-page: 414 ident: b33 article-title: Design of a hybrid power/torque thruster controller with loss estimation publication-title: IFAC Proc. Vol. – volume: 27 start-page: 790 year: 2010 end-page: 818 ident: b13 article-title: The autonomous maritime navigation (AMN) project: Field tests, autonomous and cooperative behaviors, data fusion, sensors, and vehicles publication-title: J. Field Robotics – start-page: 725 year: 2005 end-page: 729 ident: b9 article-title: SCOUT - a low cost autonomous surface platform for research in cooperative autonomy publication-title: Proceedings of OCEANS 2005 MTS/IEEE – start-page: 1 year: 2009 end-page: 6 ident: b15 article-title: Autonomous bathymetry for risk assessment with ROAZ robotic surface vehicle publication-title: Oceans 2009-Europe – volume: 30 start-page: 199 year: 1997 end-page: 206 ident: b36 article-title: A new method of thruster control in positioning of ships based on power control publication-title: IFAC Proc. Vol. – volume: 38 start-page: 268 year: 2021 end-page: 288 ident: b30 article-title: Wimust: A cooperative marine robotic system for autonomous geotechnical surveys publication-title: J. Field Robotics – volume: 17 start-page: 215 year: 2009 end-page: 226 ident: b29 article-title: A four-quadrant thrust estimation scheme for marine propellers: Theory and experiments publication-title: IEEE Trans. Control Syst. Technol. – start-page: 121 year: 2013 end-page: 126 ident: b40 article-title: Modelling and identification of a twin hull-based autonomous surface craft publication-title: 18th International Conference on Methods and Models in Automation and Robotics (MMAR) – volume: 41 start-page: 71 year: 2016 end-page: 93 ident: b22 article-title: Unmanned surface vehicles: An overview of developments and challenges publication-title: Annu. Rev. Control – volume: 57 start-page: 41 year: 2016 end-page: 44 ident: b31 article-title: Development of modular USVs for coastal zone monitoring publication-title: Sea Technol. – start-page: 126 year: 2012 end-page: 131 ident: b18 article-title: How to incorporate wind, waves and ocean currents in the marine craft equations of motion publication-title: 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Vol. 45 – volume: 91 year: 2019 ident: b20 article-title: Adaptive control for autonomous ships with uncertain model and unknown propeller dynamics publication-title: Control Eng. Pract. – year: 2011 ident: b17 article-title: Handbook of Marine Craft Hydrodynamics and Motion Control – volume: 78 start-page: 123 year: 2018 end-page: 133 ident: b41 article-title: Dynamic model identification of unmanned surface vehicles using deep learning network publication-title: Appl. Ocean Res. – year: 1994 ident: b16 article-title: Guidance and Control of Ocean Vehicles – start-page: 1 year: 2006 end-page: 6 ident: b5 article-title: Modelling and identification of the Charlie2005 ASC publication-title: 2006 14th Mediterranean Conference on Control and Automation – start-page: 407 year: 2017 end-page: 431 ident: b14 article-title: Modeling, identification and control of high-speed ASVs: Theory and experiments publication-title: Sensing and Control for Autonomous Vehicles, Vol. 47 – volume: 67 start-page: 189 year: 1994 end-page: 224 ident: b7 article-title: On the convergence of interior-reflective Newton methods for nonlinear minimization subject to bounds publication-title: Math. Program. – start-page: 1 year: 2009 end-page: 6 ident: b11 article-title: An autonomous surface vehicle for water quality monitoring publication-title: Australasian Conference on Robotics and Automation (ACRA) – reference: Häusler, A.J., Saccon, A., Hauser, J., Pascoal, A.M., Aguiar, A.P., 2015. A novel four-quadrant propeller model. In: Fourth International Symposium on Marine Propulsors (SMP 15), Austin, Texas, USA, pp. 498–506. – volume: 222 start-page: 67 year: 2008 end-page: 79 ident: b26 article-title: The design of a navigation, guidance, and control system for an unmanned surface vehicle for environmental monitoring publication-title: Proc. Inst. Mech. Eng. M: J. Eng. Marit. Environ. – year: 1997 ident: b37 article-title: An Introduction to Error Analysis – volume: 51 start-page: 207 year: 2018 end-page: 212 ident: b27 article-title: Asymmetric steering hydrodynamics identification of a differential drive unmanned surface vessel publication-title: IFAC-PapersOnLine – start-page: 585 year: 2005 end-page: 596 ident: b12 article-title: Applying unmanned ground vehicle technologies to unmanned surface vehicles publication-title: SPIE Unmanned Ground Vehicle Technology VII – year: 1950 ident: b34 publication-title: Nomenclature for Treating the Motion of a Submerged Body Through a Fluid: Report of the American Towing Tank Conference – volume: 46 start-page: 350 year: 2018 end-page: 368 ident: b42 article-title: Challenges and future trends in marine robotics publication-title: Annu. Rev. Control – volume: 76 start-page: 22 year: 2018 end-page: 30 ident: b10 article-title: Dynamic positioning of ships with unknown parameters and disturbances publication-title: Control Eng. Pract. – year: 2018 ident: b6 article-title: Marine Propellers and Propulsion – volume: 30 start-page: 371 year: 2013 end-page: 398 ident: b35 article-title: Modeling, identification, and control of an unmanned surface vehicle publication-title: J. Field Robotics – start-page: 1 year: 2006 end-page: 6 ident: b1 article-title: Vehicle and mission control of the DELFIM autonomous surface craft publication-title: 2006 14th Mediterranean Conference on Control and Automation – volume: 25 start-page: 146 year: 2000 end-page: 159 ident: b2 article-title: An accurate four-quadrant nonlinear dynamical model for marine thrusters: Theory and experimental validation publication-title: IEEE J. Ocean. Eng. – volume: 22 start-page: 2160 year: 2014 end-page: 2175 ident: b19 article-title: Trajectory tracking nonlinear model predictive control for autonomous surface craft publication-title: IEEE Trans. Control Syst. Technol. – volume: 6 start-page: 418 year: 1996 end-page: 445 ident: b8 article-title: An interior trust region approach for nonlinear minimization subject to bounds publication-title: SIAM J. Optim. – volume: 43 start-page: 407 year: 1996 end-page: 418 ident: b38 article-title: Automated bathymetry using an autonomous surface craft publication-title: Navigation – reference: Manley, J., 1997. Development of the autonomous surface craft ACES. In: Oceans ’97. MTS/IEEE Conference Proceedings, Vol. 2, Halifax, Nova Scotia, Canada, pp. 827–832. – volume: 25 start-page: 349 year: 2008 end-page: 365 ident: b4 article-title: Basic navigation, guidance and control of an unmanned surface vehicle publication-title: Auton. Robots – start-page: 329 year: 2006 end-page: 351 ident: b23 article-title: Modelling, simulation and control of an autonomous surface marine vehicle for surveying applications measuring dolphin MESSIN publication-title: Advances in Unmanned Marine Vehicles – volume: 39 start-page: 641 year: 2013 end-page: 661 ident: b25 article-title: Characterization and system identification of an unmanned amphibious tracked vehicle publication-title: IEEE J. Ocean. Eng. – volume: 76 start-page: 22 year: 2018 ident: 10.1016/j.oceaneng.2021.110260_b10 article-title: Dynamic positioning of ships with unknown parameters and disturbances publication-title: Control Eng. Pract. doi: 10.1016/j.conengprac.2018.03.015 – year: 1994 ident: 10.1016/j.oceaneng.2021.110260_b16 – year: 2011 ident: 10.1016/j.oceaneng.2021.110260_b17 – volume: 222 start-page: 67 issue: 2 year: 2008 ident: 10.1016/j.oceaneng.2021.110260_b26 article-title: The design of a navigation, guidance, and control system for an unmanned surface vehicle for environmental monitoring publication-title: Proc. Inst. Mech. Eng. M: J. Eng. Marit. Environ. – year: 1988 ident: 10.1016/j.oceaneng.2021.110260_b3 – ident: 10.1016/j.oceaneng.2021.110260_b24 doi: 10.1109/OCEANS.1997.624102 – volume: 25 start-page: 146 issue: 1 year: 2000 ident: 10.1016/j.oceaneng.2021.110260_b2 article-title: An accurate four-quadrant nonlinear dynamical model for marine thrusters: Theory and experimental validation publication-title: IEEE J. Ocean. Eng. doi: 10.1109/48.820747 – year: 1950 ident: 10.1016/j.oceaneng.2021.110260_b34 – year: 1997 ident: 10.1016/j.oceaneng.2021.110260_b37 – volume: 24 start-page: 495 issue: 4 year: 1999 ident: 10.1016/j.oceaneng.2021.110260_b39 article-title: Preliminary experiments in model-based thruster control for underwater vehicle positioning publication-title: IEEE J. Ocean. Eng. doi: 10.1109/48.809273 – volume: 78 start-page: 123 year: 2018 ident: 10.1016/j.oceaneng.2021.110260_b41 article-title: Dynamic model identification of unmanned surface vehicles using deep learning network publication-title: Appl. Ocean Res. doi: 10.1016/j.apor.2018.06.011 – volume: 30 start-page: 371 issue: 3 year: 2013 ident: 10.1016/j.oceaneng.2021.110260_b35 article-title: Modeling, identification, and control of an unmanned surface vehicle publication-title: J. Field Robotics doi: 10.1002/rob.21452 – start-page: 121 year: 2013 ident: 10.1016/j.oceaneng.2021.110260_b40 article-title: Modelling and identification of a twin hull-based autonomous surface craft – start-page: 1 year: 2009 ident: 10.1016/j.oceaneng.2021.110260_b11 article-title: An autonomous surface vehicle for water quality monitoring – volume: 51 start-page: 207 issue: 29 year: 2018 ident: 10.1016/j.oceaneng.2021.110260_b27 article-title: Asymmetric steering hydrodynamics identification of a differential drive unmanned surface vessel publication-title: IFAC-PapersOnLine doi: 10.1016/j.ifacol.2018.09.494 – volume: 25 start-page: 3 issue: 1 year: 2004 ident: 10.1016/j.oceaneng.2021.110260_b32 article-title: A nonlinear ship manoeuvering model: Identification and adaptive control with experiments for a model ship publication-title: Model. Identif. Control doi: 10.4173/mic.2004.1.1 – start-page: 407 year: 2017 ident: 10.1016/j.oceaneng.2021.110260_b14 article-title: Modeling, identification and control of high-speed ASVs: Theory and experiments – ident: 10.1016/j.oceaneng.2021.110260_b21 – volume: 46 start-page: 350 year: 2018 ident: 10.1016/j.oceaneng.2021.110260_b42 article-title: Challenges and future trends in marine robotics publication-title: Annu. Rev. Control doi: 10.1016/j.arcontrol.2018.10.002 – year: 2018 ident: 10.1016/j.oceaneng.2021.110260_b6 – volume: 41 start-page: 71 year: 2016 ident: 10.1016/j.oceaneng.2021.110260_b22 article-title: Unmanned surface vehicles: An overview of developments and challenges publication-title: Annu. Rev. Control doi: 10.1016/j.arcontrol.2016.04.018 – start-page: 725 year: 2005 ident: 10.1016/j.oceaneng.2021.110260_b9 article-title: SCOUT - a low cost autonomous surface platform for research in cooperative autonomy – start-page: 1 year: 2006 ident: 10.1016/j.oceaneng.2021.110260_b5 article-title: Modelling and identification of the Charlie2005 ASC – start-page: 126 year: 2012 ident: 10.1016/j.oceaneng.2021.110260_b18 article-title: How to incorporate wind, waves and ocean currents in the marine craft equations of motion – volume: 27 start-page: 790 issue: 6 year: 2010 ident: 10.1016/j.oceaneng.2021.110260_b13 article-title: The autonomous maritime navigation (AMN) project: Field tests, autonomous and cooperative behaviors, data fusion, sensors, and vehicles publication-title: J. Field Robotics doi: 10.1002/rob.20367 – start-page: 329 year: 2006 ident: 10.1016/j.oceaneng.2021.110260_b23 article-title: Modelling, simulation and control of an autonomous surface marine vehicle for surveying applications measuring dolphin MESSIN – volume: 17 start-page: 215 issue: 1 year: 2009 ident: 10.1016/j.oceaneng.2021.110260_b29 article-title: A four-quadrant thrust estimation scheme for marine propellers: Theory and experiments publication-title: IEEE Trans. Control Syst. Technol. doi: 10.1109/TCST.2008.922602 – volume: 91 year: 2019 ident: 10.1016/j.oceaneng.2021.110260_b20 article-title: Adaptive control for autonomous ships with uncertain model and unknown propeller dynamics publication-title: Control Eng. Pract. doi: 10.1016/j.conengprac.2019.104116 – volume: 37 start-page: 409 issue: 10 year: 2004 ident: 10.1016/j.oceaneng.2021.110260_b33 article-title: Design of a hybrid power/torque thruster controller with loss estimation publication-title: IFAC Proc. Vol. doi: 10.1016/S1474-6670(17)31766-4 – volume: 39 start-page: 641 issue: 4 year: 2013 ident: 10.1016/j.oceaneng.2021.110260_b25 article-title: Characterization and system identification of an unmanned amphibious tracked vehicle publication-title: IEEE J. Ocean. Eng. doi: 10.1109/JOE.2013.2280074 – volume: 38 start-page: 268 issue: 2 year: 2021 ident: 10.1016/j.oceaneng.2021.110260_b30 article-title: Wimust: A cooperative marine robotic system for autonomous geotechnical surveys publication-title: J. Field Robotics doi: 10.1002/rob.21986 – start-page: 1 year: 2006 ident: 10.1016/j.oceaneng.2021.110260_b1 article-title: Vehicle and mission control of the DELFIM autonomous surface craft – start-page: 1 year: 2009 ident: 10.1016/j.oceaneng.2021.110260_b15 article-title: Autonomous bathymetry for risk assessment with ROAZ robotic surface vehicle – year: 2020 ident: 10.1016/j.oceaneng.2021.110260_b28 article-title: An overview of recent advances in coordinated control of multiple autonomous surface vehicles publication-title: IEEE Trans. Ind. Inf. – volume: 57 start-page: 41 issue: 05 year: 2016 ident: 10.1016/j.oceaneng.2021.110260_b31 article-title: Development of modular USVs for coastal zone monitoring publication-title: Sea Technol. – volume: 22 start-page: 2160 issue: 6 year: 2014 ident: 10.1016/j.oceaneng.2021.110260_b19 article-title: Trajectory tracking nonlinear model predictive control for autonomous surface craft publication-title: IEEE Trans. Control Syst. Technol. doi: 10.1109/TCST.2014.2303805 – volume: 67 start-page: 189 issue: 1 year: 1994 ident: 10.1016/j.oceaneng.2021.110260_b7 article-title: On the convergence of interior-reflective Newton methods for nonlinear minimization subject to bounds publication-title: Math. Program. doi: 10.1007/BF01582221 – volume: 43 start-page: 407 issue: 4 year: 1996 ident: 10.1016/j.oceaneng.2021.110260_b38 article-title: Automated bathymetry using an autonomous surface craft publication-title: Navigation doi: 10.1002/j.2161-4296.1996.tb01929.x – volume: 25 start-page: 349 issue: 4 year: 2008 ident: 10.1016/j.oceaneng.2021.110260_b4 article-title: Basic navigation, guidance and control of an unmanned surface vehicle publication-title: Auton. Robots doi: 10.1007/s10514-008-9100-0 – volume: 6 start-page: 418 issue: 2 year: 1996 ident: 10.1016/j.oceaneng.2021.110260_b8 article-title: An interior trust region approach for nonlinear minimization subject to bounds publication-title: SIAM J. Optim. doi: 10.1137/0806023 – start-page: 585 year: 2005 ident: 10.1016/j.oceaneng.2021.110260_b12 article-title: Applying unmanned ground vehicle technologies to unmanned surface vehicles – volume: 30 start-page: 199 issue: 22 year: 1997 ident: 10.1016/j.oceaneng.2021.110260_b36 article-title: A new method of thruster control in positioning of ships based on power control publication-title: IFAC Proc. Vol. doi: 10.1016/S1474-6670(17)46514-1 |
| SSID | ssj0006603 |
| Score | 2.3614154 |
| Snippet | This work investigates and identifies a first principles maneuvering model for a small size robotic twin thruster autonomous surface vessel (ASV) that includes... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 110260 |
| SubjectTerms | Autonomous surface vehicles Identification Marine robotics Modeling |
| Title | Control oriented modeling of a twin thruster autonomous surface vehicle |
| URI | https://dx.doi.org/10.1016/j.oceaneng.2021.110260 |
| Volume | 243 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1LT8JAEN4QvKiJUdSID7IHr4V2H233SIiIGvEiCbdmd9kViCkEi9787c72oZiYcPDa7rTNt5uZ-Zr5ZhC6lsoPLGPGM0JHHmOceEIY5vmh4ERSLjl1AufHYTgYsfsxH9dQr9LCuLLK0vcXPj331uWVTolmZzmbOY0vEeBfYyAtQEKEE_ExFrlT3v78KfMIQ59WZR5u9YZKeN6GECFTk74ATySBq4gneavKPwLURtDpH6KDMlvE3eKDjlDNpA20t9FDsIH2n9zTy8bTx-i2V9Se44VrYAzpJM5n3cBSvLBY4uxjluJs6pQWZoXlOnOiBmD_-G29slIb_G6m7l0naNS_ee4NvHJYgqdpQDKPSkqBLCkFoGvJuBLK8ongMoSUMJa-jBWzJrSWG6ICX2qmNcTnEMj0RAcTSk9RPV2k5gzh2AQmIJG7aSHb4pBDGqsiGXGjFYT7JuIVQokuO4m7gRavSVUyNk8qZBOHbFIg20Sdb7tl0Utjq4WoNiD5dSoScPhbbM__YXuBdomTOeS_Wi5RPVutzRUkH5lq5aerhXa6dw-D4RdTUdol |
| linkProvider | Elsevier |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV3JTsMwEB2V9sAiIVax4wPX0MRLWh9RBZStXFqpt8h2bVqEElRS-H3GTVIVCYkD1ySTRC_WzJto3jPAhdJh5Di3gZWmFXAuaCCl5UEYS0EVE0owL3B-6sXdAb8fimENOpUWxo9Vlrm_yOnzbF0eaZZoNt8nE6_xpRLzaxubFmxCpFyBhnenEnVoXN09dHuLhBzHIasmPXzAklD49RKrhEpt-oKtIo38UDydu1X-UqOW6s7NFmyWhJFcFe-0DTWb7sD6ko3gDmw8-7uX3tO7cNspxs9J5j2MkVGS-XY3eCnJHFEk_5qkJB97sYWdEjXLva4hm32Qj9nUKWPJpx37Z-3B4Oa63-kG5X4JgWERzQOmGMN-SWvE3SgutNROjKRQMbLCtgpVW3NnY-eEpToKleHGYImOsZ8emWjE2D7U0yy1B0DaNrIRbfmTDgmXQBppnW6plrBGY8U_BFEhlJjSTNzvafGWVFNjr0mFbOKRTQpkD6G5iHsv7DT-jJDVB0h-LIwEc_4fsUf_iD2H1W7_6TF5vOs9HMMa9aqH-Z-XE6jn05k9RS6S67NyrX0D1k3c1g |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Control+oriented+modeling+of+a+twin+thruster+autonomous+surface+vehicle&rft.jtitle=Ocean+engineering&rft.au=Simetti%2C+Enrico&rft.au=Indiveri%2C+Giovanni&rft.date=2022-01-01&rft.issn=0029-8018&rft.volume=243&rft.spage=110260&rft_id=info:doi/10.1016%2Fj.oceaneng.2021.110260&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_oceaneng_2021_110260 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0029-8018&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0029-8018&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0029-8018&client=summon |