제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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- Pages.1667-1670
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- 1997
민감도 분석을 이용한 수중운동체의 계수식별
Parameter identification for an underwater vehicle using a sensitivity analysis
초록
We consider the probelem of identifying and underwater vehicle. It is assumed that a priori information about the parameteric model structure and values of the hydrodynamic coefficients is available from some other schemes. The concept of relative esnsitivity is introduced to plan and efficinet identification procedure. An analysis of the sensitivity of the overall system to a particular hydrodynamic coefficinet provides a tool to evaluate the relative importance of the same coefficient in a particular maneuver. Then it can be made possible to reduce the filter size by selecting some dominatn hydrodynamic coefficients as parameters to be estimated for a given maneuver, and this fact may be used for establishing a gradual identification scheme. The main merit of a gradual identification is substantially reduced computer burden with increased nimerical stability. An illustrative simualtion result is given.
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