NDLI: Online system identification of the dynamics of an Autonomous Underwater vehicle

Content Provider	IEEE Xplore Digital Library
Author	Eng You Hong Teo Kwong Meng Chitre, M.
Copyright Year	2013
Description	Author affiliation: Tropical Marine Sci. Inst., Nat. Univ. of Singapore, Singapore, Singapore (Eng You Hong; Chitre, M.) \|\| Dept. of Ind. & Syst. Eng., Nat. Univ. of Singapore, Singapore, Singapore (Teo Kwong Meng)
Abstract	Autonomous Underwater vehicles (AUV) with reconfigurable payloads are rapidly becoming common. Their dynamic characteristics are affected when payloads change. Typically, retuning of the controller is required to maintain good control performance. To address this situation, we develop a technique to enable rapid identification of AUV dynamics online. We demonstrate the technique with a fin-controlled single-thruster torpedo-shaped AUV. By decoupling the system according to planar and horizontal motion, mathematical models for yaw and pitch dynamics are developed. This results in a second-order transfer function with auxiliary steady state fin deflection. Identification of continuous-time model was performed to preserve the physical meaning of the parameters. Identification in continuous-time requires time-derivative terms which are reconstructed using the state variable filter (SVF). Then, recursive least-square (RLS) algorithm is used to identify the unknown parameters. The proposed identification method was validated through field deployments of our AUVs. The online estimates compare favorably with results obtained from offline identification methods requiring numerical optimization. We demonstrate how turning radius of the AUV can be estimated accurately from the identified parameters. We also show how a gain-scheduled controller, with better control performance than a constant-gain controller, can be designed using the estimated parameters.
Sponsorship	Japan Council OE Chapt.
Starting Page	1
Ending Page	10
File Size	347882
Page Count	10
File Format	PDF
ISBN	9781467359481
e-ISBN	9781467359498
DOI	10.1109/UT.2013.6519846
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-03-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Mathematical model Aerodynamics Optimization Data models Vehicles
Content Type	Text
Resource Type	Article

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