Parameter Estimation and Control of an Unmanned Underwater Vehicle

Abstract

In the present article, based on a specific set of trials carried out in the CEHIPAR model basin, a parameter estimation of a torpedo-shaped underwater vehicle is performed. A complete modelling of the underwater vehicle is performed considering the dynamics of the vehicle and its actuators with data acquired in the model basin. Thanks to the obtained model, a heading controller is designed and tested in a guidance system for a manoeuvre defined by way points.