Parameter Identification Problem for Pilotless Ship Dynamics

Abstract

Pilotless ships present one of actual direction of modern robotics application. To provide a high quality of control processes, it takes an adequate mathematical model of ship dynamics. The main feature of pilotless ship dynamics in comparison with other robotic systems consists in essential influence of water environment. In the paper to present ship model nonlinearity which is associated with viscous torque resistance, the usage of power series is proposed that makes possible to transform functional uncertainty problem in to parameter identification of power series coefficients. Speed gradient method has been applied to derive an identification algorithm of ship nonlinear dynamics parameters.