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作者： Chaos, Dictino Moreno, David Aranda, Joaquín De La Cruz, Jesús M. Dept. Informática y Automática UNED Juan del Rosal 16 28040 Madrid Spain Dept. of Computers Architecture and Automatic Control UCM 28040 Madrid Spain

ISBN: (纸本)9783902661517

control design for marine autonomous vehicles is a subject of great interest in the control systems. These vehicles are strongly non linear and show complex hydrodynamics effects that make difficult the control design. Besides, the use of underactuated vehicles is very important for different reasons like simplicity, cost, efficiency, etc, so these vehicles and their use for collaborative tasks are main topics of investigation. A non linear control for path following for USVs is presented in this work with an infrastructure capable of performing multiple AUV and ROV in collaborative tasks. So this control law and this infrastructure will be used in future projects for formation control of USVs. © 2009 IFAC.

关键词： Real time control

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A real-time control for path following of an USV

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IFAC Proceedings Volumes 2009年第18期42卷 261-266页

作者： Dictino Chaos David Moreno Joaquín Aranda Jesús M. de la Cruz Dept. Informática y Automática UNED Juan del Rosal 16. 28040 Madrid. Spain Dept of Computers Architecture and Automatic Control UCM 28040 Madrid Spain

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Discrete Event based approach to the simulation of a continuous naval system

Discrete Event based approach to the simulation of a continu...

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作者： Chaos, Dictino Aranda, Joaquín Muñoz, Rocío Díaz, José Manuel De La Cruz, Jesús M. Dept. Informática y Automática UNED C/ Juan del Rosal16 28040 Madrid Spain Dept of Computers Architecture and Automatic Control UCM 28040 Madrid Spain

ISBN: (纸本)9783902661623

In this work a simulation platform for uninhabited marine and aerial vehicles is proposed. This platform is based in the MDA (Model Driven architecture) approach and the DEVS (Discrete Event System Specification) formalism. Platform independent models (PIM) are used to describe the vehicles and its interaction;then, theses models are traduced to platform-specific models (PSMs) in Matlab-Simulink, Java and other languages. DEVS formalism is designed to describe discrete events model, so in order to use continuous time models the second order quantified states simulation (QSS2) is proposed. This method is applied to an autonomous radio controlled hovercraft and its low level tracking controller. Copyright © 2007 IFAC.

关键词： MATLAB

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DISCRETE EVENT BASED APPROACH TO THE SIMULATION OF A CONTINUOUS NAVAL SYSTEM

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IFAC Proceedings Volumes 2007年第17期40卷 223-228页

作者： Dictino Chaos Joaquín Aranda Rocío Munoz José Manuel Díaz Jesús M. de la Cruz Dept. Informática y Automática. UNED. C/ Juan del Rosal 16. 28040 Madrid. Spain Dept of Computers Architecture and Automatic Control UCM. 28040 Madrid Spain

In this work a simulation platform for uninhabited marine and aerial vehicles is proposed. This platform is based in the MDA (Model Driven architecture) approach and the DEVS (Discrete Event System Specification) formalism. Platform independent models (PIM) are used to describe the vehicles and its interaction; then, theses models are traduced to platform-specific models (PSMs) in Matlab-Simulink, Java and other languages. DEVS formalism is designed to describe discrete events model, so in order to use continuous time models the second order quantified states simulation (QSS2) is proposed. This method is applied to an autonomous radio controlled hovercraft and its low level tracking controller.

关键词： Marine autonomous vehicles DEVS formalism quantified states simulation

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