Optimal Input Design for Submarine System Identification

• Main Authors: Shih-Min Chou, 周士閔
• Other Authors: 郭振華
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/75868578113109097611

碩士 === 國立臺灣大學 === 工程科學及海洋工程學研究所 === 93 === The accuracy of hydrodynamic coefficients in a submarine vehicle’s dynamic model strongly affects the dynamic performance of its control system. This thesis presents a mutual-information-based observability metric for the on-line dynamic parameter identification of a submarine vehicle. The method provides practical means of estimation unknown parameters and plant noises using a nonlinear observer, as well as estimating the uncertainty associated with the parameters. A metric for selecting optimal input signals for parameter identification is also proposed. The trajectory of the submarine is controlled so that the identification procedure favors parameters that have the greatest uncertainty at any given time. Optimal rudder/elevator deflections for identifying the hydrodynamic coefficients of the submarine are demonstrated using computer simulations. The estimated values are compared with the Pseudo-Random-Binary-Sequence input signals that are commonly used in system identification. This algorithm for selecting optimal inputs is found to be efficient and robust to noises.