Rouv Heading by a Fractional-Order PI Controller
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Svishchev, NikolaiLino, Paolo
Maione, Guido
Rybakov, Alexsey
Lazarević, Mihailo
Azhmukhamedov Iskandar, Maratovich
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To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class, the interactions among mechanical, electronic and information processing elements call for an integrated approach at all design and development stages. Different methodologies must be combined in a multi-formalism modelling approach supported by a suitable simulation and prototyping environment. The proposed approach further involves the development of a digital twin ROUV prototype in the Gazebo-based simulator to assess performance reliably, and the utilization of a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass) to implement and run the designed control algorithms in real-time. A mathematical model of the system is derived to design a fractional-order PI controller of the ROUV heading in the horizontal plane.
Keywords:
Fractional systems / Linear systems / Fractional-order systemsSource:
Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan, 2023, TuC09.2Publisher:
- IFAC
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Mašinski fakultetTY - CONF AU - Svishchev, Nikolai AU - Lino, Paolo AU - Maione, Guido AU - Rybakov, Alexsey AU - Lazarević, Mihailo AU - Azhmukhamedov Iskandar, Maratovich PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/7008 AB - To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class, the interactions among mechanical, electronic and information processing elements call for an integrated approach at all design and development stages. Different methodologies must be combined in a multi-formalism modelling approach supported by a suitable simulation and prototyping environment. The proposed approach further involves the development of a digital twin ROUV prototype in the Gazebo-based simulator to assess performance reliably, and the utilization of a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass) to implement and run the designed control algorithms in real-time. A mathematical model of the system is derived to design a fractional-order PI controller of the ROUV heading in the horizontal plane. PB - IFAC C3 - Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan T1 - Rouv Heading by a Fractional-Order PI Controller IS - TuC09.2 UR - https://hdl.handle.net/21.15107/rcub_machinery_7008 ER -
@conference{ author = "Svishchev, Nikolai and Lino, Paolo and Maione, Guido and Rybakov, Alexsey and Lazarević, Mihailo and Azhmukhamedov Iskandar, Maratovich", year = "2023", abstract = "To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class, the interactions among mechanical, electronic and information processing elements call for an integrated approach at all design and development stages. Different methodologies must be combined in a multi-formalism modelling approach supported by a suitable simulation and prototyping environment. The proposed approach further involves the development of a digital twin ROUV prototype in the Gazebo-based simulator to assess performance reliably, and the utilization of a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass) to implement and run the designed control algorithms in real-time. A mathematical model of the system is derived to design a fractional-order PI controller of the ROUV heading in the horizontal plane.", publisher = "IFAC", journal = "Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan", title = "Rouv Heading by a Fractional-Order PI Controller", number = "TuC09.2", url = "https://hdl.handle.net/21.15107/rcub_machinery_7008" }
Svishchev, N., Lino, P., Maione, G., Rybakov, A., Lazarević, M.,& Azhmukhamedov Iskandar, M.. (2023). Rouv Heading by a Fractional-Order PI Controller. in Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan IFAC.(TuC09.2). https://hdl.handle.net/21.15107/rcub_machinery_7008
Svishchev N, Lino P, Maione G, Rybakov A, Lazarević M, Azhmukhamedov Iskandar M. Rouv Heading by a Fractional-Order PI Controller. in Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan. 2023;(TuC09.2). https://hdl.handle.net/21.15107/rcub_machinery_7008 .
Svishchev, Nikolai, Lino, Paolo, Maione, Guido, Rybakov, Alexsey, Lazarević, Mihailo, Azhmukhamedov Iskandar, Maratovich, "Rouv Heading by a Fractional-Order PI Controller" in Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan, no. TuC09.2 (2023), https://hdl.handle.net/21.15107/rcub_machinery_7008 .