Identification of AUV's Manoeuvrability Using the Nomoto's First Order Equation

摘要

This document presents the results obtained by applying the techniques of identification of dynamical systems with the aim of describing the manoeuvrability of autonomous underwater vehicle (AUV) Pirajuba, developed on Laboratory of unmanned vehicles (LVNT), at University of São Paulo (USP). To carry out identification procedures were performed man oeuvres Zigzag and Turning Circle in marine environment with the AUV, it was possible to estimate No Moto's steering quality indices of maneuver K and T [1] that when applied to your first order equation, describing the vehicle movement on a horizontal plane. These experiments were conducted in calm waters in the bay of Angra dos Reis, and thus it was possible to neglect the influence of waves and currents in the small parameter estimation calculations.