Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes
文献类型：期刊论文
| 作者 | Wilmer Ariza Ramirez1 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2021 |
| 卷号 | 18期号:5页码:681-693 |
| 关键词 | Dependent Gaussian processes dynamic system identification multi-output Gaussian processes non-parametric identification autonomous underwater vehicle (AUV) |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-021-1308-x |
| 英文摘要 | Non-parametric system identification with Gaussian processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with a low amount of data. Multi-output Gaussian processes and their aptitude for modelling the dynamic system of an underactuated AUV without losing the relationships between tied outputs are used. The simulation of a first-principle model of a Remus 100 AUV is employed to capture data for the training and validation of the multi-output Gaussian processes. The metric and required procedure to carry out multi-output Gaussian processes for AUV with 6 degrees of freedom (DoF) is also shown in this paper. Multi-output Gaussian processes compared with the popular technique of recurrent neural network show that multi-output Gaussian processes manage to surpass RNN for non-parametric dynamic system identification in underwater vehicles with highly coupled DoF with the added benefit of providing the measurement of confidence. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45457]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.Australian Maritime College, University of Tasmania, Newnham 7248, Australia 2.Jožef Steftan Institute, Ljubljana SI-1000, Slovenia 3.School of Engineering and Management, University of Nova Gorica, Vipara SI-5271, Slovenia |
| 推荐引用方式 GB/T 7714 | Wilmer Ariza Ramirez. Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes[J]. International Journal of Automation and Computing,2021,18(5):681-693. |
| APA | Wilmer Ariza Ramirez.(2021).Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes.International Journal of Automation and Computing,18(5),681-693. |
| MLA | Wilmer Ariza Ramirez."Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes".International Journal of Automation and Computing 18.5(2021):681-693. |
入库方式： OAI收割
来源：自动化研究所
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