Wave disturbance compensation for AUV diving control in shallow water environment

Main Article Content

Delvis Garcia Garcia
Yunier Valeriano Medina
Luis Hernández
Alain Martínez
Yuniesky Martínez Espinosa

Abstract

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 frecuency 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

Article Details

How to Cite
Garcia, D., Medina, Y., Hernández, L., Martínez, A., & Espinosa, Y. (2020). Wave disturbance compensation for AUV diving control in shallow water environment. Journal of Applied Research and Technology, 17(5). Retrieved from https://jart.icat.unam.mx/index.php/jart/article/view/873
Author Biographies

Delvis Garcia Garcia

Departamento de Automatica y Sistemas Computacionales, Facultad de Ingenieria Electrica, Universidad Central "Marta Abreu" de Las Villas. Carretera a Camajuani km 5.5, Santa Clara (54830), Villa Clara, Cuba.

Yunier Valeriano Medina

Departamento de Automatica y Sistemas Computacionales, Facultad de Ingenieria Electrica, Universidad Central "Marta Abreu" de Las Villas. Carretera a Camajuani km 5.5, Santa Clara (54830), Villa Clara, Cuba.

Luis Hernández

Departamento de Automatica y Sistemas Computacionales, Facultad de Ingenieria Electrica, Universidad Central "Marta Abreu" de Las Villas. Carretera a Camajuani km 5.5, Santa Clara (54830), Villa Clara, Cuba.

Alain Martínez

Departamento de Automatica y Sistemas Computacionales, Facultad de Ingenieria Electrica, Universidad Central "Marta Abreu" de Las Villas. Carretera a Camajuani km 5.5, Santa Clara (54830), Villa Clara, Cuba.

Yuniesky Martínez Espinosa

Departamento de Automatica y Sistemas Computacionales, Facultad de Ingenieria Electrica, Universidad Central "Marta Abreu" de Las Villas. Carretera a Camajuani km 5.5, Santa Clara (54830), Villa Clara, Cuba.