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TECHNICAL BRIEFS

Adaptive Parameter Identification of an Accurate Nonlinear Dynamical Model for Marine Thrusters

[+] Author and Article Information
Ralf Bachmayer

Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544 e-mail: ralf@princeton.edu

Louis L. Whitcomb

Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, MD 21218 e-mail: llw@jhu.edu

J. Dyn. Sys., Meas., Control 125(3), 491-494 (Sep 18, 2003) (4 pages) doi:10.1115/1.1591807 History: Received February 15, 2001; Revised October 31, 2002; Online September 18, 2003
Copyright © 2003 by ASME
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References

Yoerger,  D. R., Cooke,  J. G., and Slotine,  J. E., 1990, “The influence of thruster dynamics on underwater vehicle behavior and their incorporation into control system design,” IEEE J. Ocean. Eng., 15(3), 167.
Healey,  A. J., Rock,  S. M., Cody,  S., Miles,  D., and Brown,  J. P., 1995, “Toward and improved understanding of thruster dynamics for underwater vehicles,” IEEE J. Ocean. Eng., 20(4), 354.
Whitcomb,  L. L., and Yoerger,  D. R., 1999, “Development, comparison, and preliminary experimental validation of nonlinear dynamic thruster models,” IEEE J. Ocean. Eng., 24(4), 481.
Whitcomb,  L. L., and Yoerger,  D. R., 1999, “Preliminary experiments in model-based thruster control for underwater vehicle positioning,” IEEE J. Ocean. Eng., 24(4), 495.
Bachmayer,  R., Whitcomb,  L. L., and Grosenbaugh,  M. A., 2000, “An accurate four-quadrant nonlinear dynamical model for marine thrusters: Theory and experimental validation,” IEEE J. Ocean. Eng., 25(1), 146.
Bachmayer, R., Whitcomb, L., Nakamura, M., and Grosenbaugh, M., 1997, “Unsteady three-axis force, torque and flow dynamical modeling and experiments with marine thrusters,” in The 10th International Symposium on Unmanned Untethered Submersible Technology.
Bachmayer, R., and Whitcomb, L. L., 2001, “Adaptive parameter identification of an accurate nonlinear dynamical model for marine thrusters,” Technical Report 2001-11, Dynamical Systems and Control Laboratory, Johns Hopkins University, Baltimore, Maryland, USA. HTTP://robotics.me.jhu.edu/ ̃www.
Narendra, K., and Annaswamy, A., 1988, Stable Adaptive Systems, Prentice-Hall, NY.
Sastry, S., and Bodson, M. 1989, Adaptive Control: Stability, Convergence, and Robustness, Prentice-Hall.
Khalil, H. K., 1996, Nonlinear Systems, 2nd ed., Prentice-Hall, New Jersey.
Orlov,  Y., and Bentsman,  J., 2000, “Adaptive distributed parameter systems identification with enforceable identifiability conditions and reduced-order spatial differentation,” IEEE Trans. Autom. Control, 45(2), 203.

Figures

Grahic Jump Location
Lift and drag curve approximated by a 82 parameter Fourier series (dashed) and the tabulated lift and drag curves (solid) versus angle of attack α.
Grahic Jump Location
The figure shows three resulting thrust profiles versus time for identical input signals. The solid line represents the experimentally determined thrust, the dashed line is the thrust computed using the 82 coefficient identified plant and the dash–dotted line is the simulated thrust using the tabulated lift and drag curves.

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