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Recursive parameter identification for second-order K-T equations of marine robot in horizontal motion

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Title Recursive parameter identification for second-order K-T equations of marine robot in horizontal motion
 
Creator Zhong, Y M
Yu, C Y
Liu, C H
Liu, T M
Wang, R
Lian, L
 
Subject K-T equation
Least squares method
Marine robot
Parameter identification
 
Description 890-896
In this paper, a dedicated recursive least squares algorithm combining forgetting and weighted factors (FW-RLS) is
proposed to identify parameters for the second-order K-T equation of marine robot in horizontal motion. First, the Abkowitz
model in horizontal motion is converted into an equivalent second-order K-T equation to reduce the number of identification
parameters. Second, a dedicated FW-RLS algorithm based on the equivalent second-order K-T equation is proposed.
Finally, the superiority of the FW-RLS algorithm is verified by comparative numerical simulations, which show the
FW-RLS algorithm has the online identification capability, higher identification accuracy, and faster convergence rate
compared with the traditional batch least squares method
 
Date 2022-03-14T10:28:44Z
2022-03-14T10:28:44Z
2021-11
 
Type Article
 
Identifier 2582-6727 (Online); 2582-6506 (Print)
http://nopr.niscair.res.in/handle/123456789/59330
 
Language en
 
Publisher NIScPR-CSIR, India
 
Source IJMS Vol.50(11) [November 2021]