In order to better understand the behavior of the underwater robot developed at our laboratory, a simple but relatively good model of the underwater behavior of the robot had to be developed. In order to be useful for model-based control techniques onboard the robot, the model had to have low computing requirements, yet be complex enough to capture the transient response of the robot To achieve this, a system identification approach was taken by first capturing the robot response to various inputs, and then matching them to a simple model.
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