Recursive subspace identification of AUV dynamic model under general noise assumption

DOI10.1155/2014/547539MaRDI QIDQ1718643zbMATH OpenOpenAlexWikidataFDO

Authors Zheping Yan, Di Wu, Jiajia Zhou, Lichao Hao

Publication date 8 February 2019

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2014/547539

Mathematics Subject Classification ID

System identification (93B30) Nonlinear systems in control theory (93C10) Identification in stochastic control theory (93E12)

Review text

Summary: A recursive subspace identification algorithm for autonomous underwater vehicles (AUVs) is proposed in this paper. Due to the advantages at handling nonlinearities and couplings, the AUV model investigated here is for the first time constructed as a Hammerstein model with nonlinear feedback in the linear part. To better take the environment and sensor noises into consideration, the identification problem is concerned as an errors-in-variables (EIV) one which means that the identification procedure is under general noise assumption. In order to make the algorithm recursively, propagator method (PM) based subspace approach is extended into EIV framework to form the recursive identification method called PM-EIV algorithm. With several identification experiments carried out by the AUV simulation platform, the proposed algorithm demonstrates its effectiveness and feasibility.

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Cites work

• scientific article; zbMATH DE number 4043735 (Why is no real title available?)
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• Recursive subspace identification of linear and nonlinear Wiener state-space models
• Subspace algorithms for the identification of multivariable dynamic errors-in-variables models
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Cited in

(1)

• Stable adaptive identification of fully-coupled second-order 6 degree-of-freedom nonlinear plant models for underwater vehicles: theory and experimental evaluation

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