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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

Recursive Subspace Identification of AUV Dynamic Model under General Noise Assumption