Performance enhancement of depth control system for underwater vehicle using a new master-slave filter-bank

When an underwater vehicle operates in a near surface environment, the seaway generates essentially two types of stochastic disturbances that influence the boat motion. In this paper, to track center frequency for adaptive notch filtering of undesirable seaway signal a new master-slave filter bank is proposed. The filter-bank proposed here has a master and a slave filter banks. The two banks are connected in series-parallel. The master filter bank which is made up of traditional filter bank detects the center frequency of the seaway signal roughly. The performance for tracking center frequency is greatly improved by the slave filter bank which is based on energy-difference estimator. By applying the new filter bank to remove the first order component of seaway signal, it is possible to expect some performances enhancement for depth control system