Identification of a Control Oriented Nonlinear Dynamic USV Model.

The identification of the parameters in a three degree of freedom nonlinear dynamic surface ves- sel model using drag test data in each of the axes of motion is presented in this work. Parame- ter estimates based on the use of terminal ve- locity measurements and on the use of dynamic position measurements are determined and com- pared. The identification procedure is carried out on an experimental model boat which is used as the basis for comparison.

Main Author: Muske, Kenneth R.
Other Authors: Ashrafiuon, Hashem.
Format: Villanova Faculty Authorship
Language: English
Published: 2008
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