Paper Info
Title
Preliminary Evaluation Of Null-Space Dynamic Process Model Identification With Application To Cooperative Navigation Of Underwater Vehicles
Abstract
This paper reports a method and preliminary evaluation of a novel null-space least-squares parameter identification method for a fully nonlinear second-order 6-degree-of-freedom (DOF) dynamic process model of an underactuated underwater vehicle (UV) for which both the model parameters and the control-input parameters are unknown. This paper further reports the application of the identified plant models in combined underwater communication and navigation (cooperative navigation) of UVs.We report an approach to model identification that simultaneously identifies 6-DOF UV nonlinear plant-model parameters, control-surface parameters, and thruster-model parameters. We believe this approach is suitable for identifying plant model parameters from data obtained in full-scale experimental trials of UVs in controlled motion.The reported approach to nonlinear model identification of UVs is evaluated in simulation studies. The resulting identified UV plant models are further evaluated in simulated cooperative navigation missions of the UV that are representative of high-precision survey missions.To the best of our knowledge, this paper reports the first method to identify 6-DOF UV model parameters, control-surface parameters, and thruster-model parameters simultaneously.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594257
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Kernel (linear algebra),Nonlinear system,Underwater acoustic communication,Computer science,Control engineering,Kalman filter,Vehicle dynamics,Underactuation,System identification,Underwater
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Zachary J. Harris100.68
Tyler M. Paine200.34
Louis L. Whitcomb3653114.13