Record Details


Field	Value

Authentication Code	dc

Title Statement	<p class="TitleMain">Recursive parameter identification for second-order K-T equations of marine robot in horizontal motion</p>

Added Entry - Uncontrolled Name	Zhong, Y M Yu, C Y Liu, C H Liu, T M Wang, R Lian, L

Uncontrolled Index Term	K-T equation, Least squares method, Marine robot, Parameter identification

Summary, etc.	<p style="text-align: justify;">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.</p>

Publication, Distribution, Etc.	Indian Journal of Geo-Marine Sciences (IJMS) 2022-10-05 16:11:45

Electronic Location and Access	application/pdf http://op.niscair.res.in/index.php/IJMS/article/view/66759

Data Source Entry	Indian Journal of Geo-Marine Sciences (IJMS); ##issue.vol## 50, ##issue.no## 11 (2021)

Language Note	en

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