Are Complex High-Order Models more Convenient than the most widespread Euler Approach to the Modelling of Complex Dynamics Systems like in Underwater Vehicle Case?

MARIO A. JORDÁN; JORGE L. BUSTAMANTE; CARLOS E. BERGER

IEEE JOURNAL OF OCEANIC ENGINEERING

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Lugar: La Jolla, USA; Año: 2011

0364-9059

TRABAJO EN PROCESO DE REVISION PARA SER PRESENTADO EN IEEE JOURNAL OF OCEANIC ENGINEERING------ In this paper the adequacy of high order interpolation-based approaches to describe highly perturbed complex dynamics in discrete time was analyzed. Here complex dynamics of ROVs and AUVs are focused. The analysis establishes features of the approaches, particularly related to modularity, consistency with the model order and the sampling times, and accuracy in disturbed contexts with noisy measurements.A detailed study of the sensitivity of local prediction errors under a high signal-to-noise ratio is carried out with analytical expressions in dependence of physical coefficients of the vehicle like inertia, drag, buoyancy and maneuver parameters. Special attention is paid on the influence of model parameters like order, sampling time and different levels of disturbances both in the position and velocity.The different interpolation-based approaches were subsequently illustrated with numerical simulations using from an AUV-like system with a few degrees of freedom, to a ROV model of 6 degrees of freedom with complex navigation paths.As a final result, although the Adams-Bashforth approximations seemed to be the best choice between a broad class of approaches with respect to the accuracy under noisy measures, there is no advantage between the high order and the order one Adams-Bashforth approach (Euler method). These results reflect that the simplest Euler method is still effective in Complex dynamics despite the improvement in the state of the art of subaquatic sensor technology.