AUV parameter identification

Juan Carlos Cutipa Luque, Decio Crisol Donha, Ettore Apolonio De Barros

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

4 Citas (Scopus)

Resumen

An extended Kalman filter is used to tackle the problem of parameter identification of an autonomous underwater vehicle (AUV). Since a large number of parameters must be identified, two alternative sub-approaches are investigated. A classical approach seems to have a better performance in cases where a specific parameter will be identified. However, a modified approach guarantees a better identification when dealing with multiple parameters. A sway/yaw mathematical model for an AUV is obtained considering motions in the horizontal plane. Circular and zig-zag maneuvers are tested to assess the identification approaches employed. Results are presented and analysed.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009
EditorialIFAC Secretariat
Páginas72-77
Número de páginas6
ISBN (versión impresa)9783902661517
DOI
EstadoPublicada - 2009
Publicado de forma externa

Serie de la publicación

NombreIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (versión impresa)1474-6670

Nota bibliográfica

Funding Information:
This work is funded by the Brazilian Council, FAPESP.

Funding Information:
The authors express their acknowledgments to FAPESP for the financial support given to this work.

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