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Volume 13
Issue 9
10.3390/jmse13091610
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Estimation of Hydrodynamic Coefficients for the Underwater Robot P-SUROII via Constraint Recursive Least Squares Method

by
Hyungjoo Kang
1,*,
Ji-Hong Li
1,
Min-Gyu Kim
1,
Hansol Jin
1,
Mun-Jik Lee
1,
Gun Rae Cho
1 and
Sangrok Jin
2
1
Autonomous System R&D Division, Korea Institute of Robotics & Technology Convergence, Jigok-Ro 39, Nam-gu, Pohang 37666, Republic of Korea
2
School of Mechanical Engineering, Pusan National University, 2 Busandaehag-ro 63 Beon-gil, Geumjeong-gu, Pusan 46241, Republic of Korea
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2025, 13(9), 1610; https://doi.org/10.3390/jmse13091610 (registering DOI)
Submission received: 25 July 2025 / Revised: 18 August 2025 / Accepted: 22 August 2025 / Published: 23 August 2025
(This article belongs to the Section Ocean Engineering)
Versions Notes

Abstract

This study proposes a system identification (SI) technique based on the constrained recursive least squares (CRLS) method to model the dynamics of the P-SUROII. By simplifying the dynamic model in consideration of the inherent characteristics of underwater vehicles and minimizing the number of parameters to be estimated, the proposed approach aims to improve estimation accuracy. In addition, a simplified thruster input model was applied to quantify the actual thruster output and improve the reliability of the input data. To satisfy the persistent excitation (PE) condition during the estimation process, experiments incorporating various motion modes were designed, and free-running and S-shaped maneuvering tests were additionally conducted to validate the model’s generalization capability and prediction performance. The coefficients estimated using the CRLS method, which is robust to noise and bias, were evaluated using quantitative similarity metrics such as root mean squared error (RMSE) and mean absolute error (MAE), confirming their validity. The proposed method effectively captures the actual dynamics of the underwater vehicle and is expected to serve as a key enabling technology for the future development of high-performance control systems and autonomous operation systems.
Keywords: unmanned underwater vehicle; P-SUROII; system identification; least squares method; constraint recursive least squares method; hydrodynamic coefficients unmanned underwater vehicle; P-SUROII; system identification; least squares method; constraint recursive least squares method; hydrodynamic coefficients

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MDPI and ACS Style

Kang, H.; Li, J.-H.; Kim, M.-G.; Jin, H.; Lee, M.-J.; Cho, G.R.; Jin, S. Estimation of Hydrodynamic Coefficients for the Underwater Robot P-SUROII via Constraint Recursive Least Squares Method. J. Mar. Sci. Eng. 2025, 13, 1610. https://doi.org/10.3390/jmse13091610

AMA Style

Kang H, Li J-H, Kim M-G, Jin H, Lee M-J, Cho GR, Jin S. Estimation of Hydrodynamic Coefficients for the Underwater Robot P-SUROII via Constraint Recursive Least Squares Method. Journal of Marine Science and Engineering. 2025; 13(9):1610. https://doi.org/10.3390/jmse13091610

Chicago/Turabian Style

Kang, Hyungjoo, Ji-Hong Li, Min-Gyu Kim, Hansol Jin, Mun-Jik Lee, Gun Rae Cho, and Sangrok Jin. 2025. "Estimation of Hydrodynamic Coefficients for the Underwater Robot P-SUROII via Constraint Recursive Least Squares Method" Journal of Marine Science and Engineering 13, no. 9: 1610. https://doi.org/10.3390/jmse13091610

APA Style

Kang, H., Li, J.-H., Kim, M.-G., Jin, H., Lee, M.-J., Cho, G. R., & Jin, S. (2025). Estimation of Hydrodynamic Coefficients for the Underwater Robot P-SUROII via Constraint Recursive Least Squares Method. Journal of Marine Science and Engineering, 13(9), 1610. https://doi.org/10.3390/jmse13091610

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