Modeling and identification of autonomous underwater vehicle for advanced control

In this paper, horizontal plane models of AUV are studied. The linear models of AUV are simplified as vertical plane, which is helpful to identification of AUV model. A general frame of system identification for predictive control, predictive error method (PEM), is proposed. Discretization model of horizontal plane for identification and equivalent model for verification are given. The closed loop identification experiment is designed. Based on identified MFD model, the predictive control will be applied to depth control of AUV to promote the performance of AUV maneuvering.