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

Resultado de la investigación: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

9 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Proceedings of the 18th IFAC World Congress
Editorial	IFAC Secretariat
Páginas	14735-14741
Número de páginas	7
Edición	1 PART 1
ISBN (versión impresa)	9783902661937
DOI	https://doi.org/10.3182/20110828-6-IT-1002.03554
Estado	Publicada - 2011
Publicado de forma externa	Sí

Serie de la publicación

Nombre	IFAC Proceedings Volumes (IFAC-PapersOnline)
Número	1 PART 1
Volumen	44
ISSN (versión impresa)	1474-6670

Nota bibliográfica

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.

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title = "AUV identification and robust control",

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.",

keywords = "AUV, Kalman filter, Maximum likelihood, Robust control, System identification",

author = "{Cutipa Luque}, {Juan Carlos} and Donha, {D{\'e}cio Crisol}",

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.",

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AUV identification and robust control. / Cutipa Luque, Juan Carlos; Donha, Décio Crisol.

Proceedings of the 18th IFAC World Congress. 1 PART 1. ed. IFAC Secretariat, 2011. p. 14735-14741 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, N.º 1 PART 1).

Resultado de la investigación: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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AUV identification and robust control

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