AUV steering parameter identification for improved control design
Johnson, Jay H.
Healey, Anthony J.
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Any effort to provide precision control for an Autonomous Underwater Vehicle requires an accurate estimation of both the vehicles physical and hydrodynamic parameters. Here a vehicle model for controlled steering behaviors was developed and the hydrodynamic parameters were calculated from actual data obtained from operation. The steering equation parameters are based on a least squares fit to sideslip and turn rate data using maximum likelihood of batch processing. In this way, a more accurate simulation has been found for the development of a track controller that stably drives the vehicle between mission waypoints. Prediction accuracy of the model was better than ninety-five percent over the data set used.