Title :
Nonlinear model identification of a ship using recursive subspace methods
Author :
Guoqing Xia ; Ang Zhao ; Xinghua Chen ; Guoqing Wang
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
In this paper, we propose an online identification algorithm of ships for the dynamic positioning system. The ship model is first changed into Hammerstein form, then subspace identification method is used, with its simplicity and robustness, to perform the identification procedure. In order to make the identification algorithm more practical for online application, an effective updating strategy is proposed with Givens rotation matrices introduced. The proposed online identification method is tested on a DP-3 simulation system, with the assumption that the ship is operating under a calm sea condition, but the noise interference of the input/output measurement is considered. At last, simulation results showed the feasibility and effectiveness of the proposed identification method.
Keywords :
identification; interference suppression; matrix algebra; nonlinear control systems; position control; recursive estimation; robust control; ships; DP-3 simulation system; Givens rotation matrices; Hammerstein form; calm sea condition; dynamic positioning system; identification procedure; input/output measurement; noise interference; nonlinear model identification; online identification algorithm; online identification method; recursive subspace method; robustness; ship model; subspace identification method; updating strategy; Algorithm design and analysis; Computational modeling; Heuristic algorithms; Marine vehicles; Mathematical model; Noise; Noise measurement; Hammerstein model; dynamic positioning; subspace methods; system identification;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237687
