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Author

Zoran Vukić

Bio: Zoran Vukić is an academic researcher from University of Zagreb. The author has contributed to research in topics: Control theory & Remotely operated underwater vehicle. The author has an hindex of 16, co-authored 119 publications receiving 1065 citations.


Papers
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Journal ArticleDOI
TL;DR: An adaptive fuzzy gain autopilot for ship track-keeping is developed that is composed of Sugeno fuzzy type autopilot in an ordinary feedback loop and adjustable scaling factors mechanism in an additional feedback loop.

125 citations

Journal ArticleDOI
TL;DR: In this article, a cooperative robotic system for environmental monitoring consisting of an autonomous underwater vehicle (AUV) and an autonomous unmanned surface vehicle (USV) consisting of a human-on-the-loop (HOTL) approach is presented.
Abstract: Water pollution generated by accidental spill of hazardous materials is a growing problem worldwide. There is an urgent need for a tool that would help environmental response teams perform rapid understanding of the location and the extent of the spill to effectively establish an appropriate response. This paper presents a cooperative robotic system for environmental monitoring consisting of an autonomous underwater vehicle (AUV) and an autonomous unmanned surface vehicle (USV). The main contributions of the paper are a systematic description of the design and implementation of the proposed cooperative robotic system, a novel human-on-the-loop (HOTL) approach applied on the system for environmental monitoring, and demonstration of the results of the open-sea experiments on pollution deliberately caused by harmless Rhodamine water tracing (WT), carried out in Cartagena, Spain, in June 2015. The proposed HOTL system provides near real-time pollution measurement data, while not consuming a significant amount of human time and effort. It supports decision-making and allows the operator to initiate the most adequate mission in a current situation, i.e., ensures mission change on-the-fly. While the AUV samples the ocean, the USV maintains the localization and communication data transfer to the control center and corrects the AUV's dead reckoning error.

121 citations

Book
01 Jan 2003
TL;DR: Properties of nonlinear systems stability linearization methods operating modes and dynamic analysis methods phase trajectories in dynamic analysis ofnonlinear systems harmonic linearization in dynamicAnalysis of non linear control systems operating in stabilization mode harmonic linearized in dynamicanalysis of non Linear control systems in tracking mode of operation performance estimation ofNonlinear control system transient responses describing function method in fuzzy control systems.
Abstract: Properties of nonlinear systems stability linearization methods operating modes and dynamic analysis methods phase trajectories in dynamic analysis of nonlinear systems harmonic linearization in dynamic analysis of nonlinear control systems operating in stabilization mode harmonic linearization in dynamic analysis of nonlinear control systems in tracking mode of operation performance estimation of nonlinear control system transient responses describing function method in fuzzy control systems. Appendices: harmonic linearization Popov diagrams.

62 citations

Journal ArticleDOI
TL;DR: In this paper, a procedure is given for designing speed and active power controller of hydro turbine units based on mathematical models of the controlled system, and the controller parameters are obtained from closed-loop poles and hydro turbine parameters by derived analytical formulas over a wide range of the hydro turbine operating points.
Abstract: In the paper, the procedure is given for designing speed and active power controller of hydro turbine units. The procedure is based on mathematical models of the controlled system. The controller parameters are obtained from closed-loop poles and hydro turbine parameters by derived analytical formulas over a wide range of the hydro turbine operating points. The described procedure allows the fast and direct determination of the controller parameters. There is no need for heuristic controller parameters tuning. Results from two hydro turbine units with the controllers designed using the described procedure are given as an illustration.

53 citations

Journal ArticleDOI
TL;DR: This paper introduces one such method, which is based on self-oscillations (IS-O), that can be used to identify single-degree-of-freedom nonlinear model parameters of underwater and surface marine vessels and shows the applicability of the proposed method.
Abstract: To design high-level control structures efficiently, reasonable mathematical model parameters of the vessel have to be known. Because sensors and equipment mounted onboard marine vessels can change during a mission, it is important to have an identification procedure that will be easily implementable and time preserving and result in model parameters accurate enough to perform controller design. This paper introduces one such method, which is based on self-oscillations (IS-O). The described methodology can be used to identify single-degree-of-freedom nonlinear model parameters of underwater and surface marine vessels. Extensive experiments have been carried out on the VideoRay remotely operated vehicle and Charlie unmanned surface vehicle to prove that the method gives consistent results. A comparison with the least-squares identification and thorough validation tests have been performed, proving the quality of the obtained parameters. The proposed method can also be used to make conclusions on the model that describes the dynamics of the vessel. The paper also includes results of autopilot design in which the controllers are tuned according to the proposed method based on self-oscillations, proving the applicability of the proposed method. © 2010 Wiley Periodicals, Inc. © 2011 Wiley Periodicals, Inc.

53 citations


Cited by
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Journal ArticleDOI
TL;DR: A bibliographical review on reconfigurable fault-tolerant control systems (FTCS) is presented, with emphasis on the reconfiguring/restructurable controller design techniques.

2,455 citations

Journal Article
TL;DR: In this paper, two major figures in adaptive control provide a wealth of material for researchers, practitioners, and students to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs.
Abstract: This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

1,814 citations

Journal ArticleDOI
TL;DR: An overview of both historical and recent USVs development is provided, along with some fundamental definitions, and existing USVs GNC approaches are outlined and classified according to various criteria, such as their applications, methodologies, and challenges.

709 citations

Journal ArticleDOI
TL;DR: The recent developments for robot vision are surveyed to enable easy referral to suitable methods for practical solutions and representative contributions and future research trends are addressed.
Abstract: Kalman filters have received much attention with the increasing demands for robotic automation. This paper briefly surveys the recent developments for robot vision. Among many factors that affect the performance of a robotic system, Kalman filters have made great contributions to vision perception. Kalman filters solve uncertainties in robot localization, navigation, following, tracking, motion control, estimation and prediction, visual servoing and manipulation, and structure reconstruction from a sequence of images. In the 50th anniversary, we have noticed that more than 20 kinds of Kalman filters have been developed so far. These include extended Kalman filters and unscented Kalman filters. In the last 30 years, about 800 publications have reported the capability of these filters in solving robot vision problems. Such problems encompass a rather wide application area, such as object modeling, robot control, target tracking, surveillance, search, recognition, and assembly, as well as robotic manipulation, localization, mapping, navigation, and exploration. These reports are summarized in this review to enable easy referral to suitable methods for practical solutions. Representative contributions and future research trends are also addressed in an abstract level.

452 citations

Journal ArticleDOI
TL;DR: A survey of some of the major technology advances in the DP controller design having taken place during more than 30 years of research and development is given.

434 citations