Title :
Navigation, Control, and Parameter Identification of an Unmanned Submersible
Author :
Ozimina, C.D. ; Bierman, G.J.
Author_Institution :
Naval Res. Lab., Washington, DC, USA
Abstract :
This paper provides an overview of a new autonomous submersible, its existing navigation and control algorithms, and a proposed parameter adaptive control structure. Design details of an extended Kalman filter, to be used for both state estimation and explicit parameter identification, are presented.
Keywords :
Kalman filters; adaptive control; marine vehicles; mobile robots; path planning; remotely operated vehicles; state estimation; autonomous submersible; extended Kalman filter; parameter adaptive control structure; parameter identification; state estimation; unmanned submersible; Adaptive control; Batteries; Control systems; Electric variables control; Hardware; Microcomputers; Microprocessors; Parameter estimation; Testing; Underwater vehicles;
Conference_Titel :
OCEANS '80
Conference_Location :
Seattle, WA
DOI :
10.1109/OCEANS.1980.1151434
