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Wave filtering for heading control of an AUV based on passive observer

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Title Wave filtering for heading control of an AUV based on passive observer
 
Creator Garcia-Garcia, Delvis
Valeriano-Medina, Yunier
Hernández, Luis
Martínez-Laguardia, Alain
 
Subject Passive observer
Wave filter
Heading control
Wave induced motion
Underwater vehicle
 
Description 540-549
In this paper, the heading control of an
Autonomous Underwater Vehicle is improved in order to counteract the undesirable
effect of the waves in the actuators system. Wave filter suggested is a linear
passive observer and includes features like estimation of both the low
frequency heading and heading rate of the vehicle from noisy measurement of an
Inertial Measurement Unit, removing the oscillatory component. Matlab/Simulink
tool is used to show the proposed solution into the control loop, its
performance and the simulation with real data. The experimental results confirm
the suitable filtering, the estimating properties of the observer and the
navigation response expected, reducing control action and thus vibrations of
the rudder.
 
Date 2012-11-30T04:13:56Z
2012-11-30T04:13:56Z
2012-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/15149
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.41(6) [December 2012]