Identification of underwater vehicles by a Lyapunov method

Abstract

This paper deals with the identification of non linear multivariable models of underwater vehicles by using a novel Lyapunov-based method. The method operates in the continuous time domain and can be applied to non linear models that are linear with respect to an unknown parameter vector. After an introduction, where the role of identification methods in the area of guidance and control of underwater vehicles is outlined, some mathematical models that are generally used for describing the dynamics of underwater vehicles are concisely presented. The main features of the identification method are then illustrated through a simulation example concerning the surge dynamics of an underwater vehicle.