Recursive parameter identification for second-order K-T equations of marine robot in horizontal motion
NOPR - NISCAIR Online Periodicals Repository
View Archive InfoField | Value | |
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]
|
|