Identification of roll dynamics of an autonomous underwater vehicle

This article aims to identify the roll channel parameters of an autonomous underwater vehicle. These parameters include hydrodynamic coefficients, motor torque, eccentricity, misalignments and mounting imperfections. In the proposed method, an approximation of the hydrodynamic coefficients is made a...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part M, Journal of engineering for the maritime environment Journal of engineering for the maritime environment, 2019-11, Vol.233 (4), p.1056-1067
Hauptverfasser:	Abtahi, Seid Farhad, Alishahi, Mohammad Mehdi, Azadi Yazdi, Ehsan
Format:	Artikel
Sprache:	eng
Schlagworte:	Approximation Autonomous underwater vehicles Coefficients Control stability Control systems design Controllers Empirical analysis Hydrodynamic coefficients Hydrodynamics Identification Parameter identification Parameters Particle swarm optimization Proportional integral derivative Robustness (mathematics) Stability analysis Torque Underwater exploration Underwater vehicles
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