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Nonlinear observer design for current estimation based on underwater vehicle dynamic model

Citation

Fan, S and Xu, W and Chen, Z and Zhang, F, Nonlinear observer design for current estimation based on underwater vehicle dynamic model, Proceedings of OCEANS '16 MTS/IEEE Shanghai, 10-13 April 2016, Shanghai, China, pp. 1966-1970. ISBN 978-1-4673-9725-4 (2016) [Non Refereed Conference Paper]


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Official URL: https://ieeexplore.ieee.org/document/7485709/

DOI: doi:10.1109/OCEANSAP.2016.7485709

Abstract

As 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.

Item Details

Item Type:Non Refereed Conference Paper
Keywords:underwater vehicle, dynamic model, nonlinear observer, current estimation
Research Division:Engineering
Research Group:Electrical and Electronic Engineering
Research Field:Control Systems, Robotics and Automation
Objective Division:Defence
Objective Group:Defence
Objective Field:National Security
UTAS Author:Fan, S (Dr Shuangshuang Fan)
ID Code:125988
Year Published:2016
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2018-05-17
Last Modified:2018-05-21
Downloads:0

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