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First principles physics models are generally used in system identification of Autonomous Underwater Vehicles (AUVs). These models, through different parameters, capture the effects of hydrodynamics, inertial weight and other important characteristics. Due to the large number of parameters, which can number to hundreds, it is difficult to estimate such models. Moreover, AUV capabilities like thrust...
The dynamic characteristic of an autonomous underwater vehicle (AUV) is affected when it is reconfigured with different payloads. It is desirable to have an updated model, such that the control and guidance law can be redesigned to obtain better performance. Hence, we develop a method to enable online identification of AUV dynamics via in-field experiments, where the AUV is commanded to execute a...
The kernel problem of modular dynamic modeling of autonomous underwater vehicle (AUV) which is the modularization of the hydrodynamic coefficients of the hull is studied in this paper. The hydrodynamic coefficients of the hull are transformed from the lift axis system into the normal-force axis system, where they satisfy the superposition property and can be estimated from the parameters of modular...
We present a depth controller design for a torpedo-shaped autonomous underwater vehicle (AUV) known as STARFISH. It is common to design an AUV to be positively buoyant, so that it will float to the surface in case of power failure. However, most depth controllers are designed with a neutral buoyancy assumption by regarding the extra buoyancy as a disturbance. In this paper, we study the effect of...
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