Adams-Bashforth Sampled-Data Models for Perturbed Underwater-Vehicle Dynamics

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

Buenos Aires

Simposio; IEEE/OES South America International Symposium; 2010

Oceanic Engineering Society

In this paper the adequacy of interpolation based approaches to describe highly perturbed complex dynamics in discrete time (like ROVs and AUVs) is analyzed. The analysis establishes features, particularly of Adams-Bashforth approximations, related to accuracy in marked disturbed contexts with noisy measurements. Moreover, 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. The results are subsequently illustrated with numerical simulations.