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This paper reports novel theoretical and experimental results addressing the problem of parameter estimation of plant and actuator models for underactuated underwater vehicles operating in 6 degrees-of-freedom (DOF) whose dynamics are modeled by finite-dimensional Newton-Euler equations. This paper reports the first theoretical approach and experimental validation to identify simultaneously plant-model parameters (parameters such as mass, added mass, hydrodynamic drag, and buoyancy) and control-actuator parameters (control-surface models and thruster models) in 6-DOF. Most previously reported studies on parameter identification assume that the control-actuator parameters are known a priori. Moreover, this paper reports the first proof of convergence of the parameter estimates to the true set of parameters for this class of vehicles under a persistence of excitation condition. The reported adaptive identification (AID) algorithm does not require instrumentation of 6-DOF vehicle acceleration, which is required by conventional approaches to parameter estimation such as least squares. Additionally, the reported AID algorithm is applicable under any arbitrary open-loop or closed-loop control law. We report simulation and experimental results for identifying the plant-model and control-actuator parameters for an L3 OceanServer Iver3 autonomous underwater vehicle. We believe this general approach to AID could be extended to apply to other classes of machines and other classes of marine, land, aerial, and space vehicles. <\/jats:p>","DOI":"10.1177\/02783649231191184","type":"journal-article","created":{"date-parts":[[2023,11,14]],"date-time":"2023-11-14T04:28:08Z","timestamp":1699936088000},"page":"1070-1093","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":10,"title":["Stable nullspace adaptive parameter identification of 6 degree-of-freedom plant and actuator models for underactuated vehicles: Theory and experimental evaluation"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5498-301X","authenticated-orcid":false,"given":"Zachary J.","family":"Harris","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7418-1789","authenticated-orcid":false,"given":"Annie M.","family":"Mao","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6071-621X","authenticated-orcid":false,"given":"Tyler M.","family":"Paine","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2398-1000","authenticated-orcid":false,"given":"Louis L.","family":"Whitcomb","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"}]}],"member":"179","published-online":{"date-parts":[[2023,11,13]]},"reference":[{"key":"bibr1-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2007.902731"},{"key":"bibr2-02783649231191184","doi-asserted-by":"publisher","DOI":"10.2514\/2.4310"},{"key":"bibr3-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.1998.721624"},{"key":"bibr4-02783649231191184","volume-title":"Model-Based Control of a Robot Manipulator","author":"An CH","year":"1988"},{"key":"bibr5-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1986.1087644"},{"key":"bibr6-02783649231191184","volume-title":"Adaptive Control","author":"Astrom KJ","year":"1989"},{"key":"bibr7-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500306"},{"key":"bibr8-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913495932"},{"key":"bibr9-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2018.01.004"},{"key":"bibr10-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1109\/48.838986"},{"key":"bibr11-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600202"},{"key":"bibr12-02783649231191184","doi-asserted-by":"publisher","DOI":"10.21236\/ADA071804"},{"key":"bibr13-02783649231191184","volume-title":"Guidance and Control of Ocean Vehicles","author":"Fossen TI","year":"1994"},{"key":"bibr14-02783649231191184","volume-title":"Marine Control Systems: Guidance, Navigation, and Control of Ships, Rigs, and Underwater Vehicles","author":"Fossen TI","year":"2002"},{"key":"bibr15-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100104"},{"key":"bibr16-02783649231191184","doi-asserted-by":"publisher","DOI":"10.1109\/70.880812"},{"key":"bibr17-02783649231191184","doi-asserted-by":"publisher","DOI":"10.21236\/AD0653861"},{"key":"bibr18-02783649231191184","first-page":"379","volume-title":"Proc. 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