Observer Kalman filter identification of an autonomous underwater vehicle

被引：52

作者：

Tiano, A.

Sutton, R.

Lozowicki, A.

Naeem, W.

机构：

[1] Univ Pavia, Dept Informat & Syst, I-27100 Pavia, Italy

[2] Univ Plymouth, Sch Engn, Plymouth PL4 8AA, Devon, England

[3] Tech Univ Szczecin, PL-70313 Szczecin, Poland

来源：

CONTROL ENGINEERING PRACTICE | 2007年 / 15卷 / 06期

关键词：

system identification; parameter identification; numerical methods; vehicle dynamics; underwater vehicles;

D O I：

10.1016/j.conengprac.2006.08.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the identification of linear discrete-time multivariable models of an autonomous underwater vehicle (AUV). The observer Kalman filter identification (OKID) method is applied with the main objective of evaluating its effectiveness to the experimental identification of the dynamic behaviour of an AUV. After presenting the mathematical background of the OKID algorithm, the proposed method is first validated on the basis of simulated data of both the linearized and nonlinear yaw dynamics of an AUV. Subsequently, the identification algorithm is applied to a set of experimental data. Results suggest that the method can be an efficient tool for the experimental identification of AUV dynamics. (c) 2006 Elsevier Ltd. All rights reserved.

引用

页码：727 / 739

页数：13

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