基于支持向量机的水下航行器操纵运动在线建模

本文对水下航行器的操纵运动在线建模进行研究。使用增量式最小二乘法辨识得到了 MARIUS AUV的水动力导数。为了提高辨识精度，使用积分型辨识样本结构进行输入输出样本对的构造。基于约束模试验获取的水动力导数，进行操纵运动仿真，得到纵向速度、横向速度、摇首角速度和舵角等样本参数。通过试验水动力导数和辨识得到的水动力导数对比，表明辨识算法的有效性。该研究对水下航行器操纵运动的在线建模和控制应用具有重要意义。

Online modeling of underwater vehicles’ maneuvering motion by using support vector machine

This document presents the online maneuvering modeling for underwater vehicles. The hydrodynamic derivatives of MARIUSAUV are identified by using the incremental support vector machines. Besides, to improve the identification precision, integral sample structure for identification is applied for the construction of the in-out sample pairs. The data samples, i.e., surge velocities, sway velocities, yaw rates and rudder angles, are generated from the maneuvering simulation by using the hydrodynamic derivatives which are obtained from captive model tests. The comparison between the experimental hydrodynamic derivatives and the identified hydrodynamic derivatives demonstrates the validation of the parametric identification algorithm. This research is of great significance for underwater vehicles’ on-line maneuvering modeling and control application.