Wave disturbance compensation for AUV diving control in shallow water environment
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| Format: | Artículo científico |
| Sprache: | en |
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Universidad Nacional Autónoma de México
2019
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| author | Delvis Garcia-Garcia |
| author_facet | Delvis Garcia-Garcia |
| contents | Wave disturbance compensation for AUV diving control in shallow water environment Delvis Garcia-Garcia Yunier Valeriano-Medina Luis Hernández Alain Martínez Yuniesky Martínez-Espinosa Ingeniería AUV observer wave filter depth control shallow water Autonomous Underwater Vehicles (AUVs) 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 system, it is critical to remove it from the feedback loop. In this paper, a linear passive observer is designed to estimate shallow water wave motion and low frequency motion by using depth measurement. A set of simulation is presented to show the performance of the proposed observer for depth control of an AUV by using both simulated and real data. The results based on collected data confirm the suitable filtering and the navigation response expected, reducing control actions and thus vibrations of the rudders. 2019 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47471660002 https://www.redalyc.org/journal/474/47471660002/ https://www.redalyc.org/journal/474/47471660002/html/ https://www.redalyc.org/journal/474/47471660002/47471660002.epub https://www.redalyc.org/journal/474/47471660002/movil 10.14482/INDES.30.1.303.661 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.5 Vol.17 |
| format | Artículo científico |
| id | redalyc_47471660002 |
| institution | Redalyc |
| language | en |
| publishDate | 2019 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | Wave disturbance compensation for AUV diving control in shallow water environment Delvis Garcia-Garcia Ingeniería AUV observer wave filter depth control shallow water Wave disturbance compensation for AUV diving control in shallow water environment Delvis Garcia-Garcia Yunier Valeriano-Medina Luis Hernández Alain Martínez Yuniesky Martínez-Espinosa Ingeniería AUV observer wave filter depth control shallow water Autonomous Underwater Vehicles (AUVs) 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 system, it is critical to remove it from the feedback loop. In this paper, a linear passive observer is designed to estimate shallow water wave motion and low frequency motion by using depth measurement. A set of simulation is presented to show the performance of the proposed observer for depth control of an AUV by using both simulated and real data. The results based on collected data confirm the suitable filtering and the navigation response expected, reducing control actions and thus vibrations of the rudders. 2019 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47471660002 https://www.redalyc.org/journal/474/47471660002/ https://www.redalyc.org/journal/474/47471660002/html/ https://www.redalyc.org/journal/474/47471660002/47471660002.epub https://www.redalyc.org/journal/474/47471660002/movil 10.14482/INDES.30.1.303.661 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.5 Vol.17 |
| title | Wave disturbance compensation for AUV diving control in shallow water environment |
| topic | Ingeniería AUV observer wave filter depth control shallow water |
| url | https://www.redalyc.org/articulo.oa?id=47471660002 https://www.redalyc.org/journal/474/47471660002/ https://www.redalyc.org/journal/474/47471660002/html/ https://www.redalyc.org/journal/474/47471660002/47471660002.epub https://www.redalyc.org/journal/474/47471660002/movil |