Dynamic System Identification of Underwater Gliders based on Multi-output Gaussian Process

Linyu Guo, Boxv Min, Jian Gao, Anyan Jing, Jiarun Wang, Yimin Chen, Guang Pan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, a nonparametric system identification algorithm based on a multi-output Gaussian process for underwater gliders is proposed, which can predict the motion of UGs under the conditions of few training data, part measurable states, and high coupling degrees. The algorithm combines the nonlinear auto-regressive model with an external input structure and uses the conjugate gradient descent optimization algorithm to develop a nonparametric dynamic system identification scheme. The proposed scheme is implemented over data obtained from the simulated model of a UG ray-like manta of 5° and 10° Z-type steering data. The results show that the root means square errors of the prediction motion are less than 0.01500° compared with the real motion, and the multi-output Gaussian process can be accurately applied to the strong coupling, multi-degree-of-freedom (DOF) of the underwater gliders.

Original languageEnglish
Title of host publication2022 IEEE 9th International Conference on Underwater System Technology
Subtitle of host publicationTheory and Applications, USYS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350323139
DOIs
StatePublished - 2022
Event9th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2022 - Kuala Lumpur, Malaysia
Duration: 5 Dec 20226 Dec 2022

Publication series

Name2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications, USYS 2022

Conference

Conference9th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2022
Country/TerritoryMalaysia
CityKuala Lumpur
Period5/12/226/12/22

Keywords

  • multi-output Gaussian process
  • nonlinear auto-regressive model with external input
  • Nonparametric system identification
  • underwater gliders

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