System identification of AUV hydrodynamic model based on support vector machine

摘要

Autonomous Underwater Vehicle (AUV) has already been applied to ocean resource observation, environmental discovery, underwater rescue and many other types of oceanic activities. To achieve better performance and maneuvering, thus to meet more complex task, the researchers and operators should open new avenues for deeper understanding of AUV dynamics, and on the basis of which, to design more efficient control algorithm. This paper applied support vector machine method, which is derived from machine learning technology, to AUV dynamic parameter identification, and verified the feasibility through simulations.