In this paper we presented a method for determining linear and nonlinear yaw model parameters by using self-oscillations. The novel approach is in use of the general matrix formed algorithm and the use of the procedure for nonlinear systems. We also gave error analysis with recommendations on when the error will be the smallest. The experiments were performed on an AUV (Autonomous Vessel) which consists of a VideoRay Pro II ROV (Remotely Operated Vesseland) an Automarine module. Comparison of the obtained results with the results from an open-loop identification procedure, prove the applicability and accuracy of the proposed method. The main advantage of this method is that it is not time consuming, and that due to the closed-loop procedure, the disturbance influence is minimized.
AUV identification by use of self-oscillations
Parameteridentifizierung von autonomen Unterwasserfahrzeugen durch Verwendung von Eigenschwingungen
2007
6 Seiten, 4 Bilder, 3 Tabellen, 17 Quellen
(nicht paginiert)
Aufsatz (Konferenz)
Datenträger
Englisch
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