Parameter identification of underwater glider based on particle swarm optimization

摘要

An accurate model for an underwater glider is important for the design of a high-performance underwater glider control system. The performance of such control systems is influenced by the parameter variation of underwater glider under real operation conditions. In this paper, the mass parameters of an underwater glider are identified by a particle swarm optimization (PSO) method based on experimental tests. The advantages of adopting the PSO algorithm in this research include easy implementation, high computational efficiency and stable convergence characteristics.