Estimation of hydrodynamic coefficients for an AUV using nonlinear observers
Estimation of hydrodynamic coefficients for an AUV using nonlinear observers
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DOI：
10.1109/joe.2002.805098
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发表时间：
2002-10
影响因子：
4.1
通讯作者：
Joonyoung Kim;Kihun Kim;H. S. Choi;W. Seong;Kyu-Yuel Lee
中科院分区：
文献类型：
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作者：
Joonyoung Kim;Kihun Kim;H. S. Choi;W. Seong;Kyu-Yuel Lee
水动力系数对自主式水下机器人的动力学性能有着重要的影响。虽然这些系数通常是通过实验获得的，例如通过平面运动机构（PMM）测试，测量值是不完全可靠的，因为实验的困难和误差。可以获得这些系数的另一种方法是观测器方法，其中基于模型的估计算法预测系数。在本文中，水动力系数估计使用两个非线性观测器-滑模观测器和扩展卡尔曼滤波器。通过比较从两种观测器方法获得的估计系数与从PMM测试确定的值来评估它们的性能。通过使用估计的系数，滑模控制器的潜水和转向机动构造。它表明，控制器与估计值保持所需的深度和路径具有足够的精度。
Hydrodynamic coefficients strongly affect the dynamic performance of an autonomous underwater vehicle. Although these coefficients are generally obtained experimentally such as through the planar-motion-mechanism (PMM) test, the measured values are not completely reliable because of experimental difficulties and errors involved. Another approach by which these coefficients can be obtained is the observer method, in which a model-based estimation algorithm predicts the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers - a sliding mode observer and an extended Kalman filter. Their performances are evaluated by comparing the estimated coefficients obtained from the two observer methods with the values as determined from the PMM test. By using the estimated coefficients, a sliding mode controller is constructed for the diving and steering maneuver. It is demonstrated that the controller with the estimated values maintains the desired depth and path with sufficient accuracy.