Parameters Identification for Underwater Vehicle Diving Depth Model Based on the Regressor Dynamic Expansion and Mixing Procedure
https://doi.org/10.17586/0021-3454-2024-67-3-241-250
Abstract
A solution to the problem of estimating the parameters of a dynamic model of the diving depth of an uninhabited underwater vehicle is presented. To solve the problem, a new identification law is proposed, based on the procedure of dynamic expansion and mixing of the regressor and an algorithm for averaging estimates of unknown parameters. The resulting model with identified parameters approximates the dynamics of the immersion depth of a real apparatus with sufficient accuracy and is suitable for further calculation of robust standard controllers based on it.
Keywords
identification,
dynamic regressor extension,
estimate averaging,
unmanned underwater vehicle,
regressor excitation,
control
Supporting agencies: The work was carried out with partial financial support from the Grant Council of the President of the Russian Federation (project MD-1787.2022.4).
About the Authors
A. I. Glushchenko
V. A. Trapeznikov Institute of Control Sciences of the RAS, Ya. Z. Tsypkin Laboratory #7 of Adaptive and Robust Systems
Russian Federation
Russian Federation
Anton I. Glushchenko — Dr. Sci., Associate Professor, Leading Researcher,
Moscow.
K. A. Lastochkin
V. A. Trapeznikov Institute of Control Sciences of the RAS, Ya. Z. Tsypkin Laboratory #7 of Adaptive and Robust Systems
Russian Federation
Russian Federation
Konstantin A. Lastochkin — Junior Researcher,
Moscow.
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Review
For citations:
Glushchenko A.I., Lastochkin K.A. Parameters Identification for Underwater Vehicle Diving Depth Model Based on the Regressor Dynamic Expansion and Mixing Procedure. Journal of Instrument Engineering. 2024;67(3):241-250. (In Russ.) https://doi.org/10.17586/0021-3454-2024-67-3-241-250
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