An algorithm is presented for on-line estimation of the nonlinear hydrodynamics in underwater vehicles. The algorithm is able to estimate physical parameters from natural operation signals. Identifiability and convergence of the parameter trajectories are analyzed. The application of the algorithm to a spherical vehicle is described with numerical simulations.
On-line identification of hydrodynamics in underwater vehicles
Online-Identifikation der Hydrodynamik von Unterwasserfahrzeugen
2005
6 Seiten, 6 Bilder, 7 Quellen
Aufsatz (Konferenz)
Englisch
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