Abstract
The paper describes the identification of the steering dynamics of a push tow on an inland waterway. Due to traffic and limited space on the waterway identification has to be carried out in the closed loop experiments with restricted excitation. The identification is based on sensors with intermittent failure and with completely different sampling intervals. A Maximum Likelihood method based on an asynchronous Kaiman filter has been developed to optimally handle these shortcomings. Apart from system parameters, system noise has been identified. Furthermore the paper includes investigations on suitable ship models.
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