Reference for citation: Glushchenko A. I., Lastochkin K. A. Parameters identification for underwater vehicle diving depth model based on the regressor dynamic expansion and mixing procedure. Journal of Instrument Engineering. 2024. Vol. 67, N 3. P. 241—250 (in Russian). DOI: 10.17586/0021-3454-2024-67-3-241-250.

Abstract. A solution to the problem of estimating the parameters of a dynamic model of the diving depth of an uninhabited underwater vehicle is presented. To solve the problem, a new identification law is proposed, based on the procedure of dynamic expansion and mixing of the regressor and an algorithm for averaging estimates of unknown parameters. The resulting model with identified parameters approximates the dynamics of the immersion depth of a real apparatus with sufficient accuracy and is suitable for further calculation of robust standard controllers based on it.

Keywords: identification, dynamic regressor extension, estimate averaging, unmanned underwater vehicle, regressor excitation, control

Acknowledgement: the work was carried out with partial financial support from the Grant Council of the President of the Russian Federation (project MD-1787.2022.4).

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