Optimal Excitation Trajectories for System Identification of Underwater Vehicles

2026-09-15

AI Summary

本文通过设计基于贝塞尔曲线的最优激励轨迹，解决了水下航行器系统识别问题，并利用最小二乘法估计动态参数。

Abstract

In this work, we propose a structured methodology for the system identification of underwater vehicles through the design of optimal excitation trajectories. To this end, the trajectories are parameterized using Bezier curves, which ensure smooth and differentiable motion profiles while facilitating the enforcement of constraints through appropriate manipulation of the control points. An optimization problem is formulated to determine a dynamically feasible excitation trajectory that respects safety limits and maximizes the quality of the collected data, thereby enabling reliable estimation of the vehicle's dynamic parameters using least squares. The proposed methodology is experimentally validated in a laboratory water tank, where the dynamic parameters, identified from the optimized trajectory, are evaluated by predicting the vehicle's velocity through forward simulation on previously unseen trajectories.

Problem

• Underwater Vehicles
• System Identification
• Optimal Excitation Trajectories
• Data Quality
• Dynamic Parameters

Innovation

• Optimal Excitation Trajectories
• Bezier Curves
• System Identification
• Underwater Vehicles
• Dynamic Parameters Estimation