Adaptive identification of dynamically positioned underwater robotic vehicles

This paper reports a stable online adaptive identification technique for the identification of finite-dimensional dynamical models of dynamically positioned underwater robotic vehicles. Proofs for the identifier's global stability, and for the input-to-state stability of this class of plants ar...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2003-07, Vol.11 (4), p.505-515
Main Authors: Smallwood, D.A., Whitcomb, L.L.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control systems
Control theory. Systems
Differential equations
Exact sciences and technology
Fluid dynamics
Least squares method
Marine vehicles
Mathematical models
Modelling and identification
On-line systems
Parameter estimation
Predictive models
Remotely operated vehicles
Robotic vehicles
Robotics
Robots
Stability
Underwater
Underwater vehicles
Vehicle dynamics
Vehicles
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Summary:This paper reports a stable online adaptive identification technique for the identification of finite-dimensional dynamical models of dynamically positioned underwater robotic vehicles. Proofs for the identifier's global stability, and for the input-to-state stability of this class of plants are reported. A direct comparison of the adaptive identification method to a conventional, off-line, least-squares method is reported. Using experimental data obtained with the Johns Hopkins University remotely operated underwater robotic vehicle, both methods are employed to identify decoupled, single-degree-of-freedom dynamical plant models. Performance of the resulting identified dynamical plant models is quantitatively compared to the experimentally observed motion of the actual vehicle.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2003.813377