DocumentCode :
3521914
Title :
Preliminary experiments in comparative experimental identification of six degree-of-freedom coupled dynamic plant models for underwater robot vehicles
Author :
Martin, Stephen C. ; Whitcomb, Louis L.
Author_Institution :
Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
2962
Lastpage :
2969
Abstract :
This paper addresses the modeling and experimental identification of six degree-of-freedom (6-DOF) coupled nonlinear second order plant models for low-speed, fully-actuated, and neutrally buoyant open-frame underwater vehicles. We report a comparative experimental evaluation of six different candidate plant models whose unknown plant parameters are estimated from data obtained in free-motion vehicle trials. We report an experimental evaluation of the performance of each of the six different 6-DOF coupled non-linear finite-dimensional plant models for underwater vehicles estimated by total least squares (TLS) by comparing the mean absolute error between the experimentally observed vehicle velocities and the velocities obtained by a numerical simulation of the experimentally identified plant models. We also report a cross-validation which evaluates the ability of a plant model to accurately reproduce observed plant velocities for experimental trials differing from the trial from which the plant model parameters were estimated. We conclude that plant models including fully parametrized coupled quadratic drag terms perform best overall in cross-validation. This study has the following contributions: It is the first reported experimental 6-DOF fully-coupled plant model identification and cross-validation of low-speed, fully-actuated, and neutrally buoyant underwater vehicles; it is the first experimental 6-DOF plant model identification for this class of underwater vehicles during free-flight experiments; and it is the first reported use of TLS to perform 6-DOF experimental plant model identification of an underwater vehicle.
Keywords :
autonomous underwater vehicles; mobile robots; numerical analysis; parameter estimation; robot dynamics; telerobotics; velocity control; 6-DOF coupled nonlinear finite-dimensional plant models; TLS; comparative experimental identification; experimental 6-DOF fully-coupled plant model identification; experimental performance evaluation; free-flight experiments; free-motion vehicle trials; fully parametrized coupled quadratic drag terms; fully-actuated underwater vehicles; low-speed underwater vehicles; mean absolute error; neutrally buoyant open-frame underwater vehicles; numerical simulation; plant model parameters; six degree-of-freedom coupled dynamic plant models; six degree-of-freedom coupled nonlinear second order plant models; total least squares; underwater robot vehicles; vehicle velocities; Computational modeling; Data models; Drag; Numerical models; Underwater vehicles; Vectors; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6630988
Filename :
6630988
Link To Document :
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