Abstract
Autonomy of an underwater vehicle is in the main attributable to the design of a suitable guidance and control system. Generally, the control system is developed and tested first in simulation studies using a model of the vessel to gain confidence in the approach being adopted. Therefore, plant identification is imperative to gain insight about the system. This paper is concerned with a practical system identification (SI) method in order to obtain a model of an autonomous underwater vehicle (AUY) using input output data as opposed to painstaking mathematical modelling techniques. A model of the AUV is developed using SI and tested in simulations using a linear quadratic Gaussian (LQG) controller. Modelling and simulation results are presented.
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