engleski

Identification of Underwater Vehicles for the Purpose of Autopilot Tuning

The chapter presents a methodology for identification of nonlinear mathematical models of underwater vehicles for the purpose of autopilot tuning. Open-loop methods are compared with a new self-oscillation approach. Vision-based laboratory apparatus was used to determine open-loop responses. The self- oscillation method is compared with the "zig- zag" experiment.

underwater vehicles, identification, autopilot, self-oscillations

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