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Nonlinear observer design for current estimation based on underwater vehicle dynamic model
conference contribution
posted on 2023-05-23, 18:55 authored by Fan, S, Xu, W, Chen, Z, Zhang, FAs applications for autonomous ocean vehicles expand into more dynamic and constrained environments, such as shallow, coastal areas, the benefits of using more precise dynamic model for control and estimation become more compelling. This paper presents a nonlinear observer for current estimation based on AUV dynamic model. Here, AUV dynamic model in currents is taken into consideration. Motivated by the design method of high-gain observer, we take the current disturbances as the uncertainties of the vehicle dynamic system and design the observer gain matrix with the goal of making the observer robust to the effect of current disturbances. The nonlinear observer estimates vehicle's relative velocity firstly; current velocity is further calculated in an indirect way. The proposed current estimation method is validated by numerical simulation.
History
Publication title
Proceedings of OCEANS ’16 MTS/IEEE ShanghaiPagination
1966-1970ISBN
978-1-4673-9725-4Department/School
Australian Maritime CollegePublisher
IEEE-Inst Electrical Electronics Engineers IncPlace of publication
USAEvent title
OCEANS ’16 MTS/IEEE ShanghaiEvent Venue
Shanghai, ChinaDate of Event (Start Date)
2016-04-10Date of Event (End Date)
2016-04-13Repository Status
- Restricted