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Parameter Identification for Micro Underwater Vehicles
Author(s) -
Duecker Daniel Andre,
Kreuzer Edwin,
Maerker Gunnar,
Solowjow Eugen
Publication year - 2018
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201800350
Subject(s) - underwater , identification (biology) , work (physics) , computer science , encoder , control theory (sociology) , set (abstract data type) , marine engineering , engineering , control (management) , artificial intelligence , mechanical engineering , geology , oceanography , botany , biology , operating system , programming language
Detailed knowledge of model parameters is key for accurate forward simulations and control design. Identifying these parameters is especially challenging for underwater vehicles as they are subject to hydrodynamics effects which cannot be neglected in the equation of motion. In this work we present a method for hydrodynamic parameter identification of micro underwater vehicles which allow full‐size experiments due to their small size. The low‐cost experimental setup consists mainly on a free fall mass and an angular encoder. In an experimental series the hydrodynamic parameters of the micro underwater vehicle HippoCampus [1] are identified and compared with the analytically derived parameter set.