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Dynamic system identification of underwater vehicles using multi-output Gaussian processes

Citation

Ariza Ramirez, W and Kocijan, J and Leong, ZQ and Nguyen, HD and Jayasinghe, SG, Dynamic system identification of underwater vehicles using multi-output Gaussian processes, International Journal of Automation and Computing pp. 1-13. ISSN 1476-8186 (2021) [Refereed Article]


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DOI: doi:10.1007/s11633-021-1308-x

Abstract

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.

Item Details

Item Type:Refereed Article
Keywords:dynamic system identification, dependent Gaussian processes, machine learning, multi-output Gaussian processes, non-parametric identification, autonomous underwater vehicle (AUV)
Research Division:Engineering
Research Group:Control engineering, mechatronics and robotics
Research Field:Simulation, modelling, and programming of mechatronics systems
Objective Division:Transport
Objective Group:Water transport
Objective Field:Autonomous water vehicles
UTAS Author:Ariza Ramirez, W (Mr Wilmer Ariza Ramirez)
UTAS Author:Leong, ZQ (Dr Zhi Leong)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
UTAS Author:Jayasinghe, SG (Dr Shantha Jayasinghe Arachchillage)
ID Code:145410
Year Published:2021
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2021-07-20
Last Modified:2021-07-22
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