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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]
![]() | PDF (Shuangshuang Fan, Wen Xu, Zheng Chen and Fumin Zhang. “Nonlinear observer design for current estimation based on underwater vehicle dynamic Model,” MTS/IEEE OCEANS'16 Shanghai, pp.1-5, 2016.4) Not available 169Kb |
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 |
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Keywords: | underwater vehicle, dynamic model, nonlinear observer, current estimation |
Research Division: | Engineering |
Research Group: | Control engineering, mechatronics and robotics |
Research Field: | Field robotics |
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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