Online interactive identification method based on ESO disturbance estimation for motion model of double propeller propulsion unmanned surface vehicle

作     者：Yong Xiong Xianfei Wang Siwen Zhou Yong Xiong;Xianfei Wang;Siwen Zhou

作者机构：School of NavigationWuhan University of TechnologyWuhan430063HubeiChina National Engineering Research Center for Water Transport SafetyWuhan430063HubeiChina Hubei Inland Technology Key LaboratoryWuhan430063HubeiChina 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2024年第22卷第2期

页      面：292-314页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 0707[理学-海洋科学] 081104[工学-模式识别与智能系统] 08[工学] 0824[工学-船舶与海洋工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China(No.52271367) 

主　　题：Identification of parameters Ship motion model Extended state observer Multinomial innovation least squares Interactive identification 

摘      要：In this paper, the online parameter identification problem of the mathematical model of an unmanned surface vehicle (USV) considering the characteristics of the actuator is studied. A data-driven mathematical model of motion is very meaningful to realize trajectory prediction and adaptive motion control of the USV. An interactive identification algorithm (ESO–MILS, extended state observer–multi-innovation least squares) based on ESO is proposed. The robustness of online identification is improved by expanding the state observer to estimate the current disturbance without making artificial assumptions. Specifically, the three-degree-of-freedom dynamic equation of the double propeller propulsion USV is constructed. A linear model for online identification is derived by parameterization. Based on the least square criterion function, it is proved that the interactive identification method with disturbance estimation can improve the identification accuracy from the perspective of mathematical expectation. The extended state observer is designed to estimate the unknown disturbance in the model. The online interactive update improves the disturbance immunity of the identification algorithm. Finally, the effectiveness of the interactive identification algorithm is verified by simulation experiment and real ship experiment.