System Identification and Controller Design of a Novel Autonomous Underwater Vehicle.
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Autonomous underwater vehicle is an effective tool for humans to explore the ocean. It can be used for the monitoring of underwater structures and facilities, which puts forward more accurate and stable requirements for the system operation of the autonomous underwater vehicle. This paper studies the system and structural design, including the parameter identification design and control system design, of a novel autonomous underwater vehicle called Arctic AUV. The dynamic mathematical model of the Arctic AUV was established, and the system parameter identification method based on the multi-sensor least squares centralized fusion algorithm was proposed. The simplification of the mathematical model of the robot was theoretically derived, and the online parameter identification and motion control were combined, so that the robot could cope with the influence of the arctic water velocity and external turbulence. Based on the hybrid control scheme of adaptive PID and predictive control, the.....
Sustainable Development Goals (SDG)14.a
Spatial CoverageArctic Ocean
CitationWu, B., Han, X. and Hui, N. (2021) System Identification and Controller Design of a Novel Autonomous Underwater Vehicle. Machines, 9:109, 20pp. DOI: https://doi.org/10.3390/machines9060109
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