Navigation System With Adaptive Disturbances Compensation for an Autonomous Underwater Vehicle

In this paper is presented an adaptive observer based on gain-scheduled principle as a core in the navigation system of an Autonomous Underwater Vehicle (AUV) moving in the horizontal plane. The estimated wave-frequency motions are removed from the measurements and the resulting smoothed signals are...

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Bibliographic Details
Published inRevista IEEE América Latina Vol. 17; no. 10; pp. 1741 - 1751
Main Authors Garcia Garcia, Delvis, Pena Martin, Jorge, Valeriano Medina, Yunier, Hernandez Santana, Luis
Format Journal Article
LanguageEnglish
Portuguese
Spanish
Published Los Alamitos IEEE 01.10.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptation models
Adaptive control
Adaptive estimation
Adaptive systems
Autonomous underwater vehicles
filtering
frequency estimation
IEEE transactions
Motion control
Navigation
Navigation systems
nonlinear observer
Observers
Sea states
surface waves
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Summary:In this paper is presented an adaptive observer based on gain-scheduled principle as a core in the navigation system of an Autonomous Underwater Vehicle (AUV) moving in the horizontal plane. The estimated wave-frequency motions are removed from the measurements and the resulting smoothed signals are sent as feedback to the heading controller for horizontal motions control. As an important improvement, the adaptive capabilities are obtained setting the observer gains as function of the wave frequency, which represents the sea states. The wave encounter frequency is estimated using an algebraic approach with good results. Simulation results show an excellent performance of the observer and the resulting horizontal motion control system of the vehicle.
ISSN:1548-0992
1548-0992
DOI:10.1109/TLA.2019.8986453