On-Line Identification of Hydrodynamics in Underwater Vehicles

Authors:	Jordan Mario A., Universidad Nacional del Sur, Argentina Bustamante Jorge L., Universidad Nacional del Sur, Argentina Kreuzer Edwin, Technical University Harburg-Harburg, Germany Schlegel Volker, Technical University Harburg-Harburg, Germany
Topic:	1.1 Modelling, Identification & Signal Processing
Session:	Modeling of Physical Systems
Keywords:	Nonlinear Hydrodynamics - Underwater Vehicles - On-line Identification - Persistency of Excitation

Abstract

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.