Naslov
Identification of Unmanned Underwater Vehicles by Self-Oscillation Method

Autori
Mišković, Nikola ; Vukić, Zoran ; Barišić, Matko

Izvornik
Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije (0005-1144) 3-4 (2009); 167-183

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
nonlinear systems; underwater vehicles; identification; self-oscillations

Sažetak
Control of underwater vehicles is a challenging task since these systems demonstrate highly coupled and nonlinear behavior in uncertain and often unknown environment. In order to successfully design higher levels of control hierarchy, sufficiently accurate parameters of a mathematical model describing the vessel is required. These parameters vary significantly depending on the payload ; hence conventional, time-consuming identification methods are tedious. This paper introduces a self-oscillation based method for determining inertia and drag parameters for underwater vehicles. The procedure is easily implementable in field conditions and gives satisfactory results. Both linear and nonlinear models of yaw, heave and surge degree of freedom can be identified. Experimental results obtained from yaw identification experiments on a real underwater vehicle will be presented. In addition to this, the same methodology will be used to determine which model describes the vehicle dynamics more suitably. Modifications of the proposed algorithm for systems with delays and discrete-time systems will be described, together with an estimate of parameter error bounds due to quantization levels.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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