This paper focuses on the modeling of the roll motion for a manned sea-surface vehicle. An extension of the Conolly model is proposed, where the uncertainties in the mechanical torques acting on the vehicle torques coming out from wind and sea-wave action are also included in a general state space representation. A frequency-based identi¯cation procedure is provided in order to identify both the ship and the disturbance parameters. The algorithm has been tested on real data and most signi¯cative results are proposed.
Carravetta, F., Felici, G., Palumbo, P. (2009). Frequency-based model validation and parameter identification of a sea-surface vehicle. In Proceedings 14th International IEEE/IFAC Conference on Methods and Models in Automation and Robotics (MMAR2009), Miedzyzdroje, Polonia, 10-21 august 2009 (pp.284-291) [10.3182/20090819-3-PL-3002.00050].
Frequency-based model validation and parameter identification of a sea-surface vehicle
Palumbo, P
2009
Abstract
This paper focuses on the modeling of the roll motion for a manned sea-surface vehicle. An extension of the Conolly model is proposed, where the uncertainties in the mechanical torques acting on the vehicle torques coming out from wind and sea-wave action are also included in a general state space representation. A frequency-based identi¯cation procedure is provided in order to identify both the ship and the disturbance parameters. The algorithm has been tested on real data and most signi¯cative results are proposed.
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