Closed loop identification of an uninhabited surface vehicle

This paper explores the suitability of closed loop system identification (CLID) to construct a model of an uninhabited surface vehicle known as Springer. The process characteristics of Springer are analysed qualitatively. CLID reduces the costs of modelling and increases the safety of operations involved in comparison to open loop identification. There are three basic approaches: direct, indirect and joint input-output. Each of these approaches is briefly outlined and the joint input-output approach can be further classified as two-stage method, co-prime factor identification scheme and projection method. According to the studies in the past decades, it is deemed appropriate to utilise the two-stage method in this study. The CLID model of the Springer, constructed by the two stage method is presented here.