AUV control and navigation with differential flatness theory and derivative-free nonlinear Kalman filtering

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dc.creatorGerasimos Rigatos
dc.creatorGuilherme Vianna Raffo
dc.creatorPierluigi Siano
dc.date.accessioned2025-04-02T15:03:12Z
dc.date.accessioned2025-09-09T00:28:49Z
dc.date.available2025-04-02T15:03:12Z
dc.date.issued2017
dc.identifier.doihttps://doi.org/10.1007/s40903-017-0068-y
dc.identifier.issn2199-854X
dc.identifier.urihttps://hdl.handle.net/1843/81224
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIntelligent industrial systems
dc.rightsAcesso Restrito
dc.subjectSistemas não lineares
dc.subjectVeículos autônomos
dc.subject.othernonlinear control and disturbances estimation method
dc.subject.otherautonomous underwater vessels
dc.subject.othertransformation into linear canonical form
dc.subject.otherDerivative-free nonlinear Kalman Filter as a disturbance observer
dc.subject.otherAUV control loop
dc.titleAUV control and navigation with differential flatness theory and derivative-free nonlinear Kalman filtering
dc.typeArtigo de periódico
local.citation.epage41
local.citation.issue1
local.citation.spage29
local.citation.volume3
local.description.resumoThe problem of control and navigation for autonomous underwater vessels (AUVs) is solved using differential flatness theory and the Derivative-free nonlinear Kalman Filter. First, differential flatness is proven for the 6-DOF dynamic model of the AUV. This allows for transforming the AUV model into the linear canonical (Brunovsky) form and for designing a state feedback controller. Uncertainty about the parameters of the AUV’s dynamic model, as well external perturbations which affect its motion are issues that have to be taken into account in the controller’s design. To compensate for model imprecision and disturbance terms, it is proposed to use a disturbance observer which is based on the Derivative-free nonlinear Kalman Filter. The considered filtering method consists of the standard Kalman Filter recursion applied on the linearized model of the vessel and of an inverse transformation based on differential flatness theory, which enables to obtain estimates of the state variables of the initial nonlinear model of the vessel. With the use of the the Kalman Filter-based disturbance observer, simultaneous estimation of the non-measurable state variables of the AUV and of the perturbation terms that affect its dynamics is achieved. Moreover, after estimating such disturbances, their compensation is also succeeded. Simulation experiments are performed to confirm the efficiency of the proposed AUV control and estimation scheme.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://link.springer.com/article/10.1007/s40903-017-0068-y

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