Modeling and identification of autonomous underwater vehicle for advanced control

In this paper, horizontal plane models of AUV are studied. The linear models of AUV are simplified as vertical plane, which is helpful to identification of AUV model. A general frame of system identification for predictive control, predictive error method (PEM), is proposed. Discretization model of horizontal plane for identification and equivalent model for verification are given. The closed loop identification experiment is designed. Based on identified MFD model, the predictive control will be applied to depth control of AUV to promote the performance of AUV maneuvering.

[1]  Kyu-Yeul Lee,et al.  Depth and heading control for autonomous underwater vehicle using estimated hydrodynamic coefficients , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[2]  Kaj Madsen,et al.  Methods for Non-Linear Least Squares Problems , 1999 .

[3]  阮 徳雄.  Self-tuning pole assignment and optimal control systems for ships , 2001 .

[4]  Daniel E. Rivera,et al.  CONTROL-ID: a demonstration prototype for control-relevant identification , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[5]  Angelo Alessandri,et al.  Application of LS and EKF techniques to the identification of underwater vehicles , 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104).

[6]  G. Bierman,et al.  Navigation, Control, and Parameter Identification of an Unmanned Submersible , 1980 .

[7]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[8]  C. Chryssostomidis,et al.  System identification of open-loop maneuvers leads to improved AUV flight performance , 2006, IEEE Journal of Oceanic Engineering.