On-line Identification of Hydrodynamics in Underwater Vehicles


In this work an algorithm for on-line estimation of the nonlinear hydrodynamics in underwater vehicles is presented. The algorithm is able to estimate physical parameters from natural operation signals. Identifiability and convergence of the parameter trajectories are analyzed. The application of the algorithm to a spherical vehicle is described with numerical simulations. Copyright c ° 2005 IFAC


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