Title :
Model Identification for Autonomous Underwater Vehicles Based on Maximum Likelihood Relaxation Algorithm
Author :
Liang, Xiao ; Li, Wei ; Lin, Jianguo ; Su, Linfang ; Li, Hui
Author_Institution :
Coll. of Marine Eng., Dalian Maritime Univ., Dalian, China
Abstract :
In order to obtain a precise mathematical model of an autonomous underwater vehicle (AUV), model identification based on maximum likelihood relaxation algorithm is proposed in this paper. With experiment data of zigzag motion, the hydrodynamic derivatives of the AUV are estimated, and ideal convergence of maximum likelihood relaxation algorithm can be obtained from the contrast with normal approach. The simulation system based on these parameters is established to verify the validity. The results show the model is credible, which is very useful for the research of maneuverability and adaptive control of AUVs.
Keywords :
hydrodynamics; identification; maximum likelihood estimation; motion control; relaxation theory; underwater vehicles; autonomous underwater vehicle; hydrodynamic derivatives; mathematical model; maximum likelihood relaxation algorithm; model identification; zigzag motion; Automotive engineering; Computational modeling; Computer simulation; Educational institutions; Hydrodynamics; Mathematical model; Mathematics; Maximum likelihood estimation; Nonlinear equations; Underwater vehicles; autonomous underwater vehicle; mathematic model; maximum likelihood; model identification; relaxation algorithm;
Conference_Titel :
Computer Modeling and Simulation, 2010. ICCMS '10. Second International Conference on
Conference_Location :
Sanya, Hainan
Print_ISBN :
978-1-4244-5642-0
Electronic_ISBN :
978-1-4244-5643-7
DOI :
10.1109/ICCMS.2010.10
