Developing data fusion and recursive estimation methods for online identification of dive plane dynamics of an autonomous underwater vehicle

The purpose of this article is to develop an online method to identify the hydrodynamic coefficients of pitch plane of an autonomous underwater vehicle. To obtain necessary data for the identification, the dive plane dynamics should be excited through diving maneuvers. Hence, a controller is needed...

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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, 2020-05, Vol.234 (2), p.520-533
Hauptverfasser:	Abtahi, Seid Farhad, Alishahi, Mohammad Mehdi, Azadi Yazdi, Ehsan
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Approximation Autonomous underwater vehicles Coefficients Computer simulation Control stability Control systems design Controllers Data Data integration Dynamics Empirical analysis Hydrodynamic coefficients Hydrodynamics Identification Identification methods Internet Kalman filters Maneuvers Performance evaluation Pole placement Recursive methods Robust control Stability analysis Uncertainty analysis Underwater vehicles
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