M. Caccia, G. Indiveri, and G. Veruggio. Modeling and identification of open-frame variable configuration underwater vehicles. IEEE Journal of Oceanic Engineering, 25(2):227-- 240, April 2000. Home/Search Document Details and Download
Summary Related Articles Check |
This paper is cited in the following contexts:
Model-based Dynamic Positioning of Underwater Robotic.. - Smallwood, Whitcomb (2004) (Correct)
.... standard submarine equations of motion [27] 22] Although not theoretically justified, in this report we adopt the common practice of further approximating the 6 DOF equations by neglecting off diagonal entries and coupling terms, tether dynamics, as well as assuming a constant added mass [50] [9]. The resulting decoupled single degree offreedom dynamical equations take the form # # ### # # # # # # ###### # # # ##### # #### # ## # # # ##### # # # # # ## ## # ## # # # ## (3) or, rewritten, # # # ### # # # # # ### ## # ## # # # ##### # #### (4) # ## # # # ### ## # # # # Degree ....
....LUMPED PARAMETERS B. Review of Plant Model Parameter Identification Methods for Underwater Vehicles Several methods of determining the parameters of dynamical equations of motion for underwater vehicles have been presented in the literature. These include the method of leastsquares [28] 19] [9] and the use of extended Kalman filters (EKF) 19] 1] A method based on numerical minimization of the error between the trajectories of the vehicle and several models during free decay, in 1 DOF, was presented in [50] Relatively few studies, e.g. 33] 64] have reported experiments which ....
[Article contains additional citation context not shown here]
M. Caccia, G. Indiveri, and G. Veruggio. Modeling and identification of open-frame variable configuration underwater vehicles. IEEE Journal of Oceanic Engineering, 25(2):227--240, April 2000.
Toward Model Based Trajectory Tracking of Underwater.. - Smallwood, Whitcomb (2001) (Correct)
.... submarine equations of motion [18, 14] Although not theoretically justified, in this report we adopt the common practice of further approximating the 6 DOF equations by neglecting o# diagonal entries and coupling terms, coriolis forces, tether dynamics, as well as assuming a constant added mass [33, 6]. The resulting decoupled single degree of freedom dynamical equations take the # i (t) m i v i (t) dQ i v i (t) v i (t) dL i v i (t) b i , m i 0; dL i , dQ i 0, 3) or, rewritten, v i (t) m 1 i # i (t) 1 i dQ i v i (t) v i (t) 4) m 1 i dL i v i (t) 1 i b i , ....
.... vehicles in inviscid fluid for which the PDE fluid component has a closed form solution, e.g. 31] Relatively few studies, e.g. 23, 43] have reported experiments which experimentally identify the plant parameters for dynamical plant models in multiple degrees of freedom; even fewer studies, [33, 6, 38], report both experimentally determined model parameters and compare experimentally observed vehicle dynamical response with that predicted by the proposed analytical models. 2 Decoupled Single Degree of Freedom Dynamical Plant Model for the JHU ROV In this section we present experimentally ....
M. Caccia, G. Indiveri, and G. Veruggio. Modeling and identification of open-frame variable configuration underwater vehicles. IEEE Journal of Oceanic Engineering, 25(2):227-- 240, April 2000.
On the Identification of Non Linear Models of.. - Tiano, Carreras.. (2002) (Correct)
....been proposed for UUV identification generally operate off line and the underlying mathematical models are of the scalar type. Furthermore, they are essentially deterministic, since the effects of disturbances affecting the UUV dynamics and of measurement noise are not taken into consideration [3,4]. An on line deterministic identification method that has been most recently proposed [10] is limited to scalar decoupled models. A brief review of the UUV mathematical models generally used in the literature is presented in subsection 1.1 of this paper. In section 2 a general method is presented ....
....by using a numerical integration algorithm [8] that takes into account the form of the filtered output vector. 2. 1 Numerical aspects of the LS algorithm The main improvements of the proposed LS identification algorithm with respect to other apparently analogous techniques previously proposed [4,10] derive from its better numerical performance. The proposed algorithm, in fact, transforms the non linear differential Equation (3) into an integral equation expressed by Equation (7) and then the integrals expressed by Equation (9) are approximated by using the measured output data via a ....
Caccia, M., G. Indiveri and G. Veruggio "Modeling and identification of open-frame variable configuration underwater vehicles", IEEE Journal of Ocean Engineering, 25(2),pp.227-240, (2000).
Preliminary Experiments in the Adaptive Identification of.. - Smallwood, Whitcomb (2001) (1 citation) (Correct)
No context found.
M. Caccia, G. Indiveri, and G. Veruggio. Modeling and identification of open-frame variable configuration underwater vehicles. IEEE Journal of Oceanic Engineering, 25(2):227-- 240, April 2000.
Online articles have much greater impact More about CiteSeer.IST Add search form to your site Submit documents Feedback
CiteSeer.IST - Copyright Penn State and NEC