A Comparison between Complex High-Order Models and the Euler Approach to the Modelling of Complex Dynamics Systems

JORDAN, MARIO; BUSTAMANTE, JORGE; BERGER, CARLOS; TRABES, EMANUEL

Buenos Aires, Argentina

Congreso; 24º Congreso Argentino de Control Automático (AADECA 2014); 2014

Asociación Argentina de Control Automático (AADECA)

In this paper the adequacy of interpolation-based approaches to describe highly perturbed complex dynamics in discrete time is analyzed. Here complex dynamics of ROVs and AUVs are focused. The analysis establishes features of the approaches, particularly the Adams-Bashforth approximations, related to modularity, consistency with the model order and degree, and accuracy in 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. 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. Finally, the results are subsequently illustrated with numerical simulations using a ROV model of 6 degrees of freedom with complex navigation paths. All the results are framed in the state of the art of the subaquatic sensor technology.