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This paper deals with the identification of linear discrete-time multivariable models of an autonomous underwater vehicle (AUV). The observer Kalman filter identification (OKID) method is applied with the main objective of evaluating its effectiveness to the experimental identification of the dynamic behaviour of an AUV. After presenting the mathematical background of the OKID algorithm, the proposed...
To develop an unmanned surface vehicle (USV), several issues need to be addressed, however, the most important being the navigation, guidance and control which dictates the performance of the whole system. Herein, the control problem is addressed by designing a fuzzy logic based linear quadratic Gaussian autopilot for the Springer USV being developed at the University of Plymouth, UK. A model is first...
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