Wilmer Ariza Ramirez, Juš Kocijan, Zhi Quan Leong, Hung Duc Nguyen, Shantha Gamini Jayasinghe. Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes. International Journal of Automation and Computing, vol. 18, no. 5, pp.681-693, 2021. https://doi.org/10.1007/s11633-021-1308-x
Citation: Wilmer Ariza Ramirez, Juš Kocijan, Zhi Quan Leong, Hung Duc Nguyen, Shantha Gamini Jayasinghe. Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes. International Journal of Automation and Computing, vol. 18, no. 5, pp.681-693, 2021. https://doi.org/10.1007/s11633-021-1308-x

Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes

doi: 10.1007/s11633-021-1308-x
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  • Author Bio:

    Wilmer Ariza Ramirez received the B. Sc. degree in mechatronic engineering from Universidad San Buenaventura, Colombia in 2009, and the M. Eng. degree in advances manufacturing technology from Swinburne University of Technology, Australia in 2013. He is currently a Ph.D. degree candidate in maritime engineering at Australian maritime College, University of Tasmania, Australia.His research interests include simultaneous localization and mapping, navigation, path planning, intelligent systems, and nonlinear control with the use of machine learning algorithms for underwater vehicles.E-mail: wilmer.arizaramirez@utas.edu.auORCID iD: 0000-0002-2755-2281 (Corresponding author)

    Juš Kocijan received the Ph. D. degree in electrical engineering from Faculty of Electrical Engineering, University of Ljubljana, Slovenia in 1993. He is currently a senior researcher with the Jožef Stefan Institute, Slovenia, and a professor of electrical engineering with University of Nova Gorica, Slovenia. His other activities include serving as editor and on the editorial boards of research journals, serving as a member of the IFAC technical committee on computational intelligence in control. He is a senior member of the IEEE Control Systems Society, and a member of SLOSIM − Slovenian Society for Simulation and Modelling and Automatic Control Society of Slovenia. His research interests include modeling and control of dynamic systems. E-mail: jus.kocijan@ijs.si

    Zhi Quan Leong received the B. Eng. degree in ocean engineering and the Ph. D. degree in maritime engineering from Australian Maritime College, University of Tasmania, Australia in 2015. He is currently a research fellow (DSTG) at Australian Maritime College, and a lecture of hydrodynamics, computational fluid dynamics at University of Tasmania, Australia. He is currently involved in an international research team led by Australia′s Defence Science and Technology Group to refine the methods that will be used to test the hydrodynamic performance of underwater vehicles.His research interests include ship and platform hydrodynamics, naval architecture, marine engineering, ocean engineering, special vehicles, maritime engineering, navigation and position fixing.E-mail: Zhi.Leong@utas.edu.au

    Hung Duc Nguyen received the B. Eng. degree in ship navigation engineering from Vietnam Maritime University, Vietnam in 1991, and the M. Eng. and Ph. D. degrees in marine systems engineering from Tokyo University of Marine Science and Technology, Japan in 2001. He is currently a lecturer of marine control engineering with National Centre for Maritime Engineering and Hydrodynamics, Australian Maritime College, University of Tasmania, Australia. His research interests include guidance, navigation and control of marine vehicles and offshore structures, ship maneuvering dynamics and manoeuvrability, global positioning system (GPS), global navigation satellite system (GNSS) and inertial navigation systems, linear and non-linear control systems, modeling and recursive/stochastic estimation of marine and offshore control systems, fault detection and monitoring based on modeling and estimation, instrumentation and process control, sea-keeping and roll stabilization systems, and marine robots and control applications in marine vehicles including underwater vehicles.E-mail: h.d.nguyen@utas.edu.au

    Shantha Gamini Jayasinghe received the B. Sc. degree in electronics and telecommunication engineering from University of Moratuwa, Sri Lanka in 2003, and the Ph.D. degree in electrical engineering from Nanyang Technological University, Singapore in 2013. From 2011 to 2015, he worked as an electrical systems engineer at Rolls Royce Advanced Technology Centre in Singapore. He is currently a lecturer of maritime electrical engineering at Australian Maritime Collage, University of Tasmania, Australia. He has authored or co-authored over 70 international journal and conference papers and three book chapters. He holds seven US/UK patents. His research interests include power electronic converters, renewable energy technologies, grid integration of energy systems, shipboard power systems, electric propulsion and control systems.E-mail: shantha.jayasinghe@utas.edu.au

  • Received Date: 2021-02-28
  • Accepted Date: 2021-06-08
  • Publish Online: 2021-07-13
  • Publish Date: 2021-10-01
  • Non-parametric system identification with Gaussian processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with a low amount of data. Multi-output Gaussian processes and their aptitude for modelling the dynamic system of an underactuated AUV without losing the relationships between tied outputs are used. The simulation of a first-principle model of a Remus 100 AUV is employed to capture data for the training and validation of the multi-output Gaussian processes. The metric and required procedure to carry out multi-output Gaussian processes for AUV with 6 degrees of freedom (DoF) is also shown in this paper. Multi-output Gaussian processes compared with the popular technique of recurrent neural network show that multi-output Gaussian processes manage to surpass RNN for non-parametric dynamic system identification in underwater vehicles with highly coupled DoF with the added benefit of providing the measurement of confidence.


  • 1https://github.com/ArizaWilmerUTAS/System-indetification-of-underwater-vehicles-with-Multi-Output-Gaussian-Processes
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