Artículos - Departamento de Control Automático.
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En esta colección están depositados los artículos científicos publicados por personal afiliado al Departamento de Control Automático.
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Examinando Artículos - Departamento de Control Automático. por Autor "Garcia Garcia, Delvis"
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Ítem Embargo Navigation system with adaptive disturbances compensation for an autonomous underwater vehicle(2019-10-01) Garcia Garcia, Delvis; Peña Martin, Jorge; Valeriano Medina, Yunier; Hernández Santana, Luis; Universidad Central "Marta Abreu" de Las Villas. Facultad de Ingeniería Eléctrica. Departamento de Control AutomáticoIn this paper is presented an adaptive observer based on gain-scheduled principle as a core in the navigation system of an Autonomous Underwater Vehicle (AUV) moving in the horizontal plane. The estimated wave-frequency motions are removed from the measurements and the resulting smoothed signals are sent as feedback to the heading controller for horizontal motions control. As an important improvement, the adaptive capabilities are obtained setting the observer gains as function of the wave frequency, which represents the sea states. The wave encounter frequency is estimated using an algebraic approach with good results. Simulation results show an excellent performance of the observer and the resulting horizontal motioncontrol system of the vehicle.Ítem Embargo Wave disturbance compensation for AUV diving control in shallow water environment(2020-01-15) Garcia Garcia, Delvis; Valeriano Medina, Yunier; Hernández Santana, Luis; Martínez Laguardia, Alain Sebastián; Martínez Espinosa, Yuniesky; Universidad Central "Marta Abreu" de Las Villas. Facultad de Ingeniería Eléctrica. Departamento de Control AutomáticoAutonomous underwater vehicles operating near the surface are subject to significant disturbances due to wave motion. In order to counteract the oscillatory effect of the waves in the actuators systems it is critical to remove it from the feedback lopp.