IDENTIFICATION OF NON LINEAR MODELS OF UNMANNED UNDERWATER VEHICLES: COMPARISON BETWEEN TWO IDENTIFICATION METHODS

摘要

This paper presents a comparison between two identification methods for the off-line identification of non linear models of Unmanned Underwater Vehicles (UUV's), one based on the minimization of the acceleration prediction error (classic method) and another based on the minimization of the velocity one step prediction error (new method). Both methods are compared through its application to the identification of the dynamic model of URIS UUV. Results suggest that better models can be obtained using the proposed method