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水下机器人动力学模型辨识是水下机器人运动控制、状态监测和系统设计开发的基础。把6自由度动力学模型适当简化,给出Falcon水下机器人的动力学模型,在最小二乘算法(LS)和递推最小二乘算法(RLS)的基础上,提出基于多新息最小二乘算法(MILS)的水下机器人动力学模型辨识方法,最后给出MILS辨识算法、RLS算法和LS辨识算法仿真实验结果,证明所提算法的可行性与优越性。利用多新息最小二乘算法得到的水下机器人动力学模型参数更接近于理想参数,能够更好的描述水下机器人的动态特性,对于水下机器人的操纵与自适应控制的研究有较大的实际意义。
Underwater robot dynamics model identification is underwater robot motion control, condition monitoring and system design and development of the foundation. The dynamic model of 6-DOF is simplified and the dynamic model of Falcon underwater robot is given. Based on least-squares (LS) and recursive least squares (RLS) algorithm, (MILS) underwater robot dynamics model identification method, and finally gives MILS identification algorithm, RLS algorithm and LS identification algorithm simulation results to prove the feasibility and superiority of the proposed algorithm. The underwater robot dynamics model parameters obtained by multi-innovation least squares algorithm are closer to the ideal parameters and can better describe the dynamic characteristics of underwater vehicles. The research on the control and adaptive control of underwater vehicles is relatively large The practical significance.