自主水下航行器动力学模型参数辨识

2015 International Conference "Stability and Control Processes" in Memory of V.I. Zubov (SCP) Pub Date : 2015-12-03 DOI:10.1109/SCP.2015.7342221

N. Zhabko

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引用次数: 1

摘要

研究了自主水下航行器水平面和垂直平面非线性动力学模型的参数辨识问题。为了估计非线性模型的参数，提出了基于预测误差最小化的算法，然后利用估计的非线性模型找到适合运动控制系统综合的线性模型。

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Parameter identification of autonomous underwater vehicle dynamic model

The problem of parameter identification of nonlinear dynamic models in horizontal and vertical planes of autonomous underwater vehicle is considered in this paper. To estimate the parameters of nonlinear models the algorithm based on the prediction error minimization is proposed, and then the estimated nonlinear models are used to find the adequate linear model for motion control system synthesis.

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2015 International Conference "Stability and Control Processes" in Memory of V.I. Zubov (SCP)

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