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Path following for an autonomous underwater vehicle (AUV) by using a high-gain observer based on an AUV dynamic model

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Kim, E, Fan, S ORCID: 0000-0002-1865-9730, Bose, N ORCID: 0000-0002-6444-0756 and Nguyen, HD ORCID: 0000-0003-0118-8597 2019 , 'Path following for an autonomous underwater vehicle (AUV) by using a high-gain observer based on an AUV dynamic model', in A Kim (ed.), IFAC-PapersOnLine, 52 (21): Proceedings of the 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019) , Elsevier, pp. 218-223 , doi: 10.1016/j.ifacol.2019.12.310.

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Abstract

In this paper a curved path following problem for autonomous underwater vehicles (AUVs) moving in a nonuniform ocean current is presented. A high-gain observer (HGO) based on an AUV dynamic model was used to estimate three dimensional current velocities. The current velocities were determined by calculating the differences between the vehicle’s absolute velocities and the vehicle’s relative velocities estimated by the observer. The HGO was chosen as a nonlinear estimation algorithm, and the observer gain was computed by solving a Linear Matrix Inequality (LMI) which represented the estimation error dynamics. The desired curved path was represented by using a Serret-Frenet frame which propagated along the curve. The path-following system includes a guidance law, un update law and a proportional and integral controller. Two cases of numerical simulations were conducted to verify the performance of the path following system.

Item Type: Conference Publication
Authors/Creators:Kim, E and Fan, S and Bose, N and Nguyen, HD
Keywords: autonomous underwater vehicles, path following, high-gain observer, ocean current
Journal or Publication Title: IFAC-PapersOnLine, 52 (21): Proceedings of the 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019)
Publisher: Elsevier
ISSN: 2405-8963
DOI / ID Number: 10.1016/j.ifacol.2019.12.310
Copyright Information:

Copyright 2019 IFAC (International Federation of Automatic Control)

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