Extended Kalman Filter Based Identification of Dynamic Model for Underwater Robots
In order to obtain a precise mathematical model of underwater robots, model identification based on extended kalman filter is proposed in this paper. Parameter estimation is carried out with experiment data of zigzag motion in ocean experiments, and the hydrodynamic derivatives of underwater robots are identified by using extended kalman filter, and the nonlinear dynamic model of an underwater robot is established. The simulation system based on the model 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 underwater robots.
X. Liang et al., "Extended Kalman Filter Based Identification of Dynamic Model for Underwater Robots", Applied Mechanics and Materials, Vols. 29-32, pp. 780-783, 2010