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Path following for an autonomous underwater vehicle (AUV) by using a high-gain observer based on an AUV dynamic model
conference contribution
posted on 2023-05-23, 14:37 authored by Kim, E, Fan, S, Neil Bose, Hung NguyenHung NguyenIn this paper a curved path following problem for autonomous underwater vehicles (AUVs) moving in a nonuniform ocean current is presented. A high-gain observer (HGO) based on an AUV dynamic model was used to estimate three dimensional current velocities. The current velocities were determined by calculating the differences between the vehicle’s absolute velocities and the vehicle’s relative velocities estimated by the observer. The HGO was chosen as a nonlinear estimation algorithm, and the observer gain was computed by solving a Linear Matrix Inequality (LMI) which represented the estimation error dynamics. The desired curved path was represented by using a Serret-Frenet frame which propagated along the curve. The path-following system includes a guidance law, un update law and a proportional and integral controller. Two cases of numerical simulations were conducted to verify the performance of the path following system.
History
Publication title
IFAC-PapersOnLine, 52 (21): Proceedings of the 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019)Volume
52Editors
A KimPagination
218-223ISSN
2405-8963Department/School
Division of the Chief Operating OfficePublisher
ElsevierPlace of publication
Amsterdam, NetherlandsEvent title
12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019)Event Venue
Daejeon, South KoreaDate of Event (Start Date)
2019-09-18Date of Event (End Date)
2019-09-20Rights statement
Copyright 2019 IFAC (International Federation of Automatic Control)Repository Status
- Restricted