Parametric system identification of catamaran for improving controller design
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Author list: Timpitak S., Prempraneerach P., Pengwang E.
Publisher: IOP Publishing
Publication year: 2018
Volume number: 297
Issue number: 1
ISSN: 1757-8981
eISSN: 1757-899X
Languages: English-Great Britain (EN-GB)
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Abstract
This paper presents an estimation of simplified dynamic model for only surge- and yaw- motions of catamaran by using system identification (SI) techniques to determine associated unknown parameters. These methods will enhance the performance of designing processes for the motion control system of Unmanned Surface Vehicle (USV). The simulation results demonstrate an effective way to solve for damping forces and to determine added masses by applying least-square and AutoRegressive Exogenous (ARX) methods. Both methods are then evaluated according to estimated parametric errors from the vehicle's dynamic model. The ARX method, which yields better estimated accuracy, can then be applied to identify unknown parameters as well as to help improving a controller design of a real unmanned catamaran. ฉ Published under licence by IOP Publishing Ltd.
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