System parameters identification ≪Autonomous underwater vehicle - external environment

This paper proposes a identification scheme for a number of «autonomous underwater vehicle - external environment» dynamical system parameters such as motor rotating parts moment of inertia with allowance for additional moments of inertia and viscous friction coefficient. We show simulation results...

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Bibliographische Detailangaben
Hauptverfasser:	Zolotukhin, Y.N., Nesterov, A.A., YAN, A.P.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Automatic control Control systems Laser feedback Mobile robots Parameter estimation Regulators Remotely operated vehicles Underwater vehicles Vehicle detection Vehicle dynamics
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Beschreibung
Zusammenfassung:	This paper proposes a identification scheme for a number of «autonomous underwater vehicle - external environment» dynamical system parameters such as motor rotating parts moment of inertia with allowance for additional moments of inertia and viscous friction coefficient. We show simulation results that illustrate the high convergence speed of parameters to true values.
DOI:	10.1109/APEIE.2008.4897206