On the Identification of Non Linear Models of Unmanned Underwater Vehicles

This paper presents an identification method for the off-line identification of non linear models of Unmanned Underwater Vehicles (UUV's). The proposed method can be applied to a quite general class of non linear multivariable models and is characterised by an excellent numerical performance. The validity of the method is demonstrated through an application to the identification of the dynamic behaviour of the URIS underwater robotic vehicle.