Parameter identification of the Fossen model applied to the UUV Blucy

The thesis describes the procedure followed to identify the Fossen mathematical model of the Blucy unmanned underwater vehicle developed within the Sustainable fisheries with DROnes data Processing project. The identification consists in finding the parameters which constitute the mathematical model of Fossen of Blucy. These parameters describe important properties of Blucy, such as its mass, geometry and inertia, as well as its hydrostatic and hydrodynamic characteristics. The topics covered are: the study of the mathematical model, the dynamic vector equations of the model implemented in Simulink; the identification of parameters performed through a combination of different tools and methods, including detailed 3D CAD modeling, meshing and CFD simulations. The identified parameters were integrated into Simulink and tested. Finally, a new approach based on fractional order modeling was applied to test the accuracy and adaptability of a new strategy for modeling complex systems. The results obtained from this work show the effectiveness of the proposed approach in identifying Blucy's Fossen mathematical model.