Measurements of Hydrodynamic Parameters and control of an underwater torpedo-shaped vehicle

In the present article, based on a specific set of trials carried out in the CEHIPAR model basin, a parameter estimation of a torpedo-shaped underwater vehicle is performed. A complete modelling of the underwater vehicle is performed considering the dynamics of the vehicle and its actuators with data acquired in the model basin. Furthermore, it is proposed a modification of the conventional LOS method that works properly in presence of ocean currents. The modified LOS is applied to the torpedo-shaped model previously obtained and tested under realistic conditions.