AUV identification and robust control

Juan Carlos Cutipa Luque; Décio Crisol Donha

doi:10.3182/20110828-6-IT-1002.03554

AUV identification and robust control

Juan Carlos Cutipa Luque, Décio Crisol Donha

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	Proceedings of the 18th IFAC World Congress
Publisher	IFAC Secretariat
Pages	14735-14741
Number of pages	7
Edition	1 PART 1
ISBN (Print)	9783902661937
DOIs	https://doi.org/10.3182/20110828-6-IT-1002.03554
State	Published - 2011
Externally published	Yes

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1 PART 1
Volume	44
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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10.3182/20110828-6-IT-1002.03554

Cite this

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AB - 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.

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ER -

AUV identification and robust control

Abstract

Publication series

Bibliographical note

Keywords

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