AUV identification and robust control

Juan Carlos Cutipa Luque, Décio Crisol Donha

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

The present research paper deals with identification of an Autonomous Underwater Vehicle (AUV) system using Kalman filter and maximum likelihood estimation approaches in order to get an accuracy and more representative nominal model. Despite all efforts in modelling of the vehicle, uncertainties in the parameters can appear because some dynamics are difficult to be modelled and, eventually, are neglected. Complementary, the paper aims the problem of robust control in the sway and yaw dynamics assuming uncertainties, perturbations and noises. The results are shown by simulated data.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages14735-14741
Number of pages7
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
StatePublished - 2011
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

Bibliographical note

Funding Information:
This work is funded by the Brazilian Council, FAPESP.

Funding Information:
The authors express their acknowledgements to FAPESP for the financial support given to this research.

Keywords

  • AUV
  • Kalman filter
  • Maximum likelihood
  • Robust control
  • System identification

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