Closed loop identification of an uninhabited surface vehicle
Closed loop identification of an uninhabited surface vehicle
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无人地面车辆的闭环识别
DOI：
10.1049/cp.2013.0019
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Annamalai A
中科院分区：
文献类型：
--
作者：
Annamalai A
探讨了闭环系统辨识方法(CLID)在无人水面车辆模型施普林格建模中的适用性。对施普林格的工艺特点进行了定性分析。与开环识别相比，CLID降低了建模成本，并提高了所涉及的操作的安全性。基本方法有三种：直接、间接和联合投入产出。简要介绍了每种方法，并将投入产出联合方法进一步分为两阶段法、协素因子辨识法和投影法。根据过去几十年的研究，认为在本研究中采用两阶段法是合适的。给出了用两阶段法构造的斯普林格的CLID模型。
This paper explores the suitability of closed loop system identification (CLID) to construct a model of an uninhabited surface vehicle known as Springer. The process characteristics of Springer are analysed qualitatively. CLID reduces the costs of modelling and increases the safety of operations involved in comparison to open loop identification. There are three basic approaches: direct, indirect and joint input-output. Each of these approaches is briefly outlined and the joint input-output approach can be further classified as two-stage method, co-prime factor identification scheme and projection method. According to the studies in the past decades, it is deemed appropriate to utilise the two-stage method in this study. The CLID model of the Springer, constructed by the two stage method is presented here.