Optimal Input Design for Submarine System Identification
Date Issued
2004
Date
2004
Author(s)
Chou, Shih-Min
DOI
en-US
Abstract
The accuracy of hydrodynamic coefficients in a submarine vehicle’s dynamic model strongly affects the dynamic performance of its control system. This thesis presents a mutual-information-based observability metric for the on-line dynamic parameter identification of a submarine vehicle. The method provides practical means of estimation unknown parameters and plant noises using a nonlinear observer, as well as estimating the uncertainty associated with the parameters. A metric for selecting optimal input signals for parameter identification is also proposed. The trajectory of the submarine is controlled so that the identification procedure favors parameters that have the greatest uncertainty at any given time. Optimal rudder/elevator deflections for identifying the hydrodynamic coefficients of the submarine are demonstrated using computer simulations. The estimated values are compared with the Pseudo-Random-Binary-Sequence input signals that are commonly used in system identification. This algorithm for selecting optimal inputs is found to be efficient and robust to noises.
Subjects
系統鑑定
最佳輸入
水下載具
Underwater Vehicles
System identification
Optimal inputs
SDGs
Type
thesis
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ntu-93-R91525014-1.pdf
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