| 基于支持向量机的水下机器人操纵运动参数辨识 |
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| 引用本文： | 徐锋,邹早建,宋鑫.基于支持向量机的水下机器人操纵运动参数辨识[J].船舶力学,2011,15(9). |
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| 作者姓名： | 徐锋 邹早建 宋鑫 |
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| 作者单位： | 上海交通大学船舶海洋与建筑工程学院,上海,200240;上海交通大学船舶海洋与建筑工程学院,上海200240;上海交通大学海洋工程国家重点实验室,上海200240 |
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| 基金项目： | Supported by the National Natural Science Foundation of China(Grant No.50979060,51079031) |
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| 摘 要： | 根据平面运动机构试验所得到的水动力系数确定水下运载器的运动方程,应用最小二乘支持向量机对水下运载器的试验数据进行分析,辨识得到了水动力系数,并将辨识得到的参数同平面运动机构试验所确定的参数相比,验证了最小二乘支持向量机进行水下运载器操纵运动参数辨识的有效性。根据所辨识的水动力系数进行了模型验证,证明所辨识得到的水动力参数是可靠的。该方法对水下运载器的操纵和控制的研究有重要意义。
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| 关 键 词： | 水下机器人 支持向量机 参数辨识 数学模型 |
Parametric Identification of AUV's Maneuvering Motion Based on Support Vector Machines |
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| XU Feng,ZOU Zao-jian,SONG Xin.Parametric Identification of AUV's Maneuvering Motion Based on Support Vector Machines[J].Journal of Ship Mechanics,2011,15(9). |
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| Authors: | XU Feng ZOU Zao-jian SONG Xin |
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| Institution: | XU Feng a,ZOU Zao-jian a,b,SONG Xin a(a.School of Naval Architecture,Ocean and Civil Engineering,b.State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China) |
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| Abstract: | The mathematical model of AUV's maneuvering motion is reconstructed based on the hydrodynamic coefficients derived from the VPMM test.LS-SVM is adopted for analysis of the AUV's free-running model test results,and the hydrodynamic coefficients are identified.By comparing the identified parameters with those obtained by VPMM(Vertical Planar Motion Mechanism) test,the validity of LS-SVM in identifying the AUV's motion parameters is proved.The verification of the mathematical model demonstrates the validity of... |
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| Keywords: | Autonomous Underwater Vehicles LS-SVM(Least Square-Support Vector Machines) parametric identification mathematical model |
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