Work-energy principle based model parameter identification of underwater vehicle and experimental estimation

To meet the needs of controlling an underwater vehicle, the work-energy principle and the least squares technique are used for model parameter identification for an underwater vehicle. According to the proposed method, the identification equations for a Remotely Operated Vehicle (ROV) are built, and then experiments for identification are performed in laboratory tank and its parameters are estimated, next experiments in the same tank and simulations for its station-keeping control are performed. Finally, the method is shown to be valid by comparing the simulation and experiments data. The estimated parameters in the proposed method are explicit in physical significance. Via the method, it is helpful to identify dynamic model parameters of a mechanical system which has work and energy conversation in motion.