The purpose of this article is to develop an online method to identify the hydrodynamic coefficients of pitch plane of an autonomous underwater vehicle. To obtain necessary data for the identification, the dive plane dynamics should be excited through diving maneuvers. Hence, a controller is needed whose performance and stability are appropriate. To design such a controller, first, hydrodynamic coefficients are approximated using semi-empirical methods. Based on these approximated coefficients, a classic controller is designed at the next step. Since the estimation of these coefficients is uncertain, µ-analysis is employed to verify the robustness of stability and performance of the controller. Using the verified robust controller, some oscillating maneuvers are carried out that excite the dive plane dynamics. Using sensor fusion and unscented Kalman filter, smooth and high-rate data of depth is provided for the depth controller. A recursive identification algorithm is developed to identify the hydrodynamic coefficients of heave and pitch motions. It turns out that some inputs required by the identification are not measured directly by the sensors. But the devised fusion algorithm is able to provide the necessary data for identification. Finally, using the identified coefficients and employing pole placement method, a new controller with better performance is synthesized online. To evaluate the performance of the identification and fusion algorithms, a 6-degree-of-freedom simulation of an autonomous underwater vehicle is carried out.
Nonsmooth Recursive Identification of Sandwich Systems with Backlash-Like Hysteresis
