Analysis of identification methods applied to free model tests of the Pirajuba AUV

João L.D. Dantas, William S. Caetano, Rodrigo T.S. Vale, Ettore A. de Barros

Research output: Contribution to journalConference Contributionpeer-review

5 Citations (Scopus)

Abstract

System identification based methods represent a compromise between accuracy and cost in the estimation of a marine manoeuvring dynamics. However, the use of this kind of approach requires the adoption of a methodology capable of identify satisfactorily the vehicle dynamics, filter away the perturbations that occur during the experiments, and validate the identified model. This paper presents the results of a proposed identification methodology applied to the free model tests of the AUV Pirajuba. In this methodology, deterministic and stochastic identification models are applied to the AUV yaw rate signal of zigzag manoeuvres of several amplitudes, so that the influence of nonlinear effects could be assessed. The estimated models are validated against experimental results from zig-zag manoeuvres and a number of turning manoeuvres. The identified models provide an envelope which includes the vehicle's behavior. Such result can be applied to robust identification and control design.

Original languageEnglish
Pages (from-to)185-190
Number of pages6
JournalIFAC Proceedings Volumes
Volume46
Issue number33
DOIs
Publication statusPublished - 30 Sept 2013
Event9th IFAC Conference on Control Applications in Marine Systems, CAMS 2013 - Osaka, Japan
Duration: 17 Sept 201320 Sept 2013

Keywords

  • identification method
  • autonomous underwater vehicle (AUV)
  • free model test
  • nonlinear effects
  • stochastic models
  • vehicle dynamics
  • marine applications
  • marine robotics
  • maneuverability

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