Adaptive filter applications to autonomous underwater vehicle

Author

Lainiotis, D.G. ; Menon, Dinesh ; Plataniotis, K.N. ; Charalampous, C.J.

Author_Institution

Florida Inst. of Technol., Melbourne, FL, USA

fYear

1993

fDate

18-21 Oct 1993

Abstract

A powerful adaptive filter algorithm for estimation of forces acting on an Autonomous Underwater Vehicle (AUV) and the corresponding adaptive control law which determines the desired heading commands are considered in this paper. Due to the complicated nature of AUV´s task and incorporation of the ocean current, uncertain parameters arise in the equations of motion that constitute the AUV´s dynamic model. Based on the Lainiotis Partitioning Theory, a highly adaptive scheme is used to estimate the velocity components for controlling the vehicle. Extensive simulations demonstrate the robustness and the effectiveness of the new scheme in a variety of different environments

Keywords

adaptive control; adaptive filters; kinematics; marine systems; mobile robots; velocity control; Lainiotis partitioning theory; adaptive control law; adaptive filter; autonomous underwater vehicle; heading commands; ocean current; robustness; uncertain parameters; velocity components; Adaptive control; Adaptive filters; Motion measurement; Nonlinear equations; Programmable control; Q measurement; Remotely operated vehicles; Rotation measurement; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '93. Engineering in Harmony with Ocean. Proceedings

Conference_Location

Victoria, BC

Print_ISBN

0-7803-1385-2

Type

conf

DOI

10.1109/OCEANS.1993.326109

Filename

326109