Online interactive identification method based on ESO disturbance estimation for motion model of double propeller propulsion unmanned surface vehicle
Yong Xiong1
Xianfei Wang2
Siwen Zhou2
1.School of Navigation,Wuhan University of Technology,Wuhan 430063,Hubei,China;National Engineering Research Center for Water Transport Safety,Wuhan 430063,Hubei,China;Hubei Inland Technology Key Laboratory,Wuhan 430063,Hubei,China2.School of Navigation,Wuhan University of Technology,Wuhan 430063,Hubei,China
摘要：In this paper,the online parameter identification problem of the mathematical model of an unmanned surface vehicle(USV)considering the characteristics of the actuator is studied.A data-driven mathematical model of motion is very meaningful to realize trajectory prediction and adaptive motion control of the USV.An interactive identification algorithm(ESO-MILS,extended state observer-multi-innovation least squares)based on ESO is proposed.The robustness of online identification is improved by expanding the state observer to estimate the current disturbance without making artificial assumptions.Specifically,the three-degree-of-freedom dynamic equation of the double propeller propulsion USV is constructed.A linear model for online identification is derived by parameterization.Based on the least square criterion function,it is proved that the interactive identification method with disturbance estimation can improve the identification accuracy from the perspective of mathematical expectation.The extended state observer is designed to estimate the unknown disturbance in the model.The online interactive update improves the disturbance immunity of the identification algorithm.Finally,the effectiveness of the interactive identification algorithm is verified by simulation experiment and real ship experiment.
机标关键词：propelleridentificationdisturbancemotiondoublesurfaceonlinemethod
论文发表日期：2024-05-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：23( 292-314 )
英文信息