Title :
A New Type Nonlinear Observer Design for AUV in Shallow Water
Author_Institution :
Sch. of Aeronaut. & Astronaut., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
The proposed observer could estimate AUV´s low frequency motion and environmental disturbance force from the synthetical signals which include the low frequency motion signals, high frequency motion signals and measure noise from the sensors. The nonlinear observer is proved global exponential stability and passive. Passivity theory is used in designing the tuning parameters of the observer. The observer overcomes the essential shortcomings of the tradition Kalman filter which applies the linear theory and gain scheduling techniques. A set of computer simulations which is carried out to test the performance of the proposed observer proves the excellent capability.
Keywords :
Kalman filters; asymptotic stability; autonomous underwater vehicles; nonlinear control systems; observers; AUV; Kalman filter; computer simulations; environmental disturbance; exponential stability; frequency motion; gain scheduling techniques; linear theory; motion signals; nonlinear observer design; passivity theory; shallow water; synthetical signals; tuning parameters; Dynamics; Filtering theory; Frequency estimation; Marine vehicles; Observers; Transfer functions; autonomous underwater vehicle; dynamic positioning; nonlinear observer; passivity; shallow water;
Conference_Titel :
Intelligent System Design and Engineering Application (ISDEA), 2012 Second International Conference on
Conference_Location :
Sanya, Hainan
Print_ISBN :
978-1-4577-2120-5
DOI :
10.1109/ISdea.2012.727