AUV identification and robust control

Juan Carlos Cutipa Luque, Décio Crisol Donha

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión 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 originalInglés
Título de la publicación alojadaProceedings of the 18th IFAC World Congress
EditorialIFAC Secretariat
Páginas14735-14741
Número de páginas7
Edición1 PART 1
ISBN (versión impresa)9783902661937
DOI
EstadoPublicada - 2011
Publicado de forma externa

Serie de la publicación

NombreIFAC Proceedings Volumes (IFAC-PapersOnline)
Número1 PART 1
Volumen44
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.

Huella

Profundice en los temas de investigación de 'AUV identification and robust control'. En conjunto forman una huella única.

Citar esto