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.|