Stable nullspace adaptive parameter identification of 6 degree-of-freedom plant and actuator models for underactuated vehicles: Theory and experimental evaluation
Zachary J. Harris,
Annie M. Mao,
Tyler M. Paine
et al.
Abstract:Model-based approaches to navigation, control, and fault detection that utilize precise nonlinear models of vehicle plant dynamics will enable more accurate control and navigation, assured autonomy, and more complex missions for such vehicles. This paper reports novel theoretical and experimental results addressing the problem of parameter estimation of plant and actuator models for underactuated underwater vehicles operating in 6 degrees-of-freedom (DOF) whose dynamics are modeled by finite-dimensional Newton… Show more
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