Adaptive Parameter Identification of Underactuated Unmanned Underwater Vehicles: A Preliminary Simulation Study
Adaptive Parameter Identification of Underactuated Unmanned Underwater Vehicles: A Preliminary Simulation Study
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欠驱动无人水下航行器的自适应参数识别：初步仿真研究
DOI：
10.1109/oceans.2018.8604828
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
L. Whitcomb
中科院分区：
文献类型：
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作者：
Tyler M. Paine;L. Whitcomb
本文报告了一种新的自适应识别器（AID）的分析开发和初步的数值评估的在线实验识别参数的欠驱动三自由度（DOF）无人水下航行器（UUV）植物模型。这种方法扩展了以前报道的全驱动6自由度UUV工厂模型的AID的结果普遍存在的欠驱动车辆的情况下。新的AID扩展的性能进行了比较，普通最小二乘法（OLS）的方法在完全驱动和欠驱动（控制权在浪涌和航向只）3自由度UUV植物模型的仿真研究。该结果表明，只要存在适当自由度的足够激励，该AID就可能用于估计欠驱动UUV的许多变体的参数。此外，该AID不需要访问身体加速度信号，这可以提供优于其他参数估计方法的优点。据作者所知，本文报告的第一个模拟研究，评估性能的任何援助植物参数欠驱动UUV。此外，这是第一次报道的三自由度UUV植物模型的AID。
This paper reports the analytical development and preliminary numerical evaluation of a novel adaptive identifier (AID) for the online experimental identification of parameters for underactuated three degree-of-freedom (DOF) unmanned underwater vehicle (UUV) plant models. This approach extends previously reported results for AID for fully actuated 6-DOF UUV plant models to the ubiquitous case of underactuated vehicles. The performance of the new AID extension was compared to that of an Ordinary Least Squares (OLS) method in simulation studies of fully actuated and underactuated (control authority in surge and heading only) 3-DOF UUVs plant models. This result indicates that this AID can likely be used to estimate parameters of many variants of underactuated UUVs, as long as sufficient excitation in the appropriate degrees of freedom is present. Furthermore this AID does not require access to body acceleration signals, which can offer an advantage over other parameter estimation methods. To the best of the authors knowledge this paper reports the first simulation study that evaluates the performance of any AID for plant parameters of underactuated UUVs. Additionally, this is the first reported AID for 3-DOF UUV plant models.