The modelling and identification of an open-frame underwater vehicle for marine applications has been considered. The goal of this work is to demonstrate that modelling and identification of small underwater vehicles is feasible at low cost: the identification has been accomplished using only standard on-board devices. First, the selection of a model for such vehicles is discussed, as well as a suitable identification method. The parameters of the selected model have been identified in two steps, based on least squares (LS) and extended Kalman filter (EKF) techniques. The results of the identification applied to experimental data are presented and discussed.
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