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In this work, the issue of obtaining consistent parameter estimators fornonlinear regression models where the regressors are second-order modulusfunctions is explored. It is shown that consistent instrumental variableestimators can be obtained by estimating first and second-order moments ofnon-additive environmental disturbances' probability distributions as nuisanceparameters in parallel to the sought-after model parameters, conductingexperiments with a static excitation offset of sufficient amplitude and forcingthe instruments to have zero mean. The proposed method is evaluated in asimulation example with a model of a marine surface vessel.

Consistent Estimators for Nonlinear Vessel Models