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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Published in | Revista IEEE América Latina Vol. 17; no. 10; pp. 1741 - 1751 |
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Main Authors | , , , |
Format | Journal Article |
Language | English Portuguese Spanish |
Published |
Los Alamitos
IEEE
01.10.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subjects | |
Online Access | Get full text |
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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. |
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ISSN: | 1548-0992 1548-0992 |
DOI: | 10.1109/TLA.2019.8986453 |