Navigation system with adaptive disturbances compensation for an autonomous underwater vehicle

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dc.contributor.authorGarcia Garcia, Delvis
dc.contributor.authorPeña Martin, Jorge
dc.contributor.authorValeriano Medina, Yunier
dc.contributor.authorHernández Santana, Luis
dc.contributor.departmentUniversidad Central "Marta Abreu" de Las Villas. Facultad de Ingeniería Eléctrica. Departamento de Control Automáticoen_US
dc.date.accessioned2020-09-16T14:57:57Z
dc.date.available2020-09-16T14:57:57Z
dc.date.issued2019-10-01
dc.description.abstractIn 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.en_US
dc.identifier.citationCitar según la fuente original: Garcia, D. G., Martín, J. P., Medina, Y. V., & Santana, L. H. (2019). Navigation System With Adaptive Disturbances Compensation for an Autonomous Underwater Vehicle. IEEE Latin America Transactions, 17(10), 1741-1751.en_US
dc.identifier.doi10.1109/TLA.2019.8986453en_US
dc.identifier.issn1548-0992en_US
dc.identifier.urihttps://dspace.uclv.edu.cu/handle/123456789/12517
dc.language.isoesen_US
dc.relation.journalIEEE Latin America Transactionsen_US
dc.rightsEste documento es Propiedad Patrimonial de IEEE y se socializa en este Repositorio gracias a la política de acceso abierto de la revista IEEE LATIN AMERICA TRANSACTIONSen_US
dc.rights.holderIEEEen_US
dc.source.endpage1751en_US
dc.source.initialpage1741en_US
dc.source.issue10en_US
dc.source.volume17en_US
dc.subjectAdaptive Estimationen_US
dc.subjectFilteringen_US
dc.subjectFrequency Estimationen_US
dc.subjectNonlinear Observeren_US
dc.subjectSurface Wavesen_US
dc.titleNavigation system with adaptive disturbances compensation for an autonomous underwater vehicleen_US
dc.typeArticleen_US
dc.type.article1en_US

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Artículos - Departamento de Control Automático.