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A Method of Reducing Invalid Steering for AUVs Based on a Wave Peak Frequency Tracker

Author

Listed:
  • Jianping Yuan

    (College of Ocean Engineering, Guangdong Ocean University, Zhanjiang 524088, China)

  • Jin Li

    (College of Science, Jiujiang University, Jiujiang 332005, China)

  • Zhihui Dong

    (College of Ocean Engineering, Guangdong Ocean University, Zhanjiang 524088, China)

  • Qinglong Chen

    (College of Ocean Engineering, Guangdong Ocean University, Zhanjiang 524088, China)

  • Hanbing Sun

    (Jiujiang Branch of the 707th Research Institute of China State Shipbuilding Corporation, Jiujiang 332005, China)

Abstract

The motion control of autonomous underwater vehicles (AUVs) is affected by waves near the ocean surface or in shallow-water areas. Therefore, to counteract the influence of waves, we need to remove them by designing a filter. The wave peak frequency is important in wave filter design. This paper focuses on the identification of the wave peak frequency using the least-squares parameter estimation algorithm. The input–output expression of the wave disturbance model is derived by eliminating the intermediate variable. Based on the obtained identification model, an auxiliary model-based recursive extended least-squares identification algorithm is developed to estimate the model parameters. The effectiveness of the proposed method is verified with simulated tests of the heading control system of an AUV. The simulation results demonstrate that the proposed method is effective for the identification of the wave peak frequency, and an observer with a wave peak frequency tracker can significantly reduce invalid steering.

Suggested Citation

  • Jianping Yuan & Jin Li & Zhihui Dong & Qinglong Chen & Hanbing Sun, 2022. "A Method of Reducing Invalid Steering for AUVs Based on a Wave Peak Frequency Tracker," Sustainability, MDPI, vol. 14(22), pages 1-14, November.
    • Handle: RePEc:gam:jsusta:v:14:y:2022:i:22:p:15357-:d:977123
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    References listed on IDEAS

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    1. Fengying Ma & Yankai Yin & Min Li, 2019. "Start-Up Process Modelling of Sediment Microbial Fuel Cells Based on Data Driven," Mathematical Problems in Engineering, Hindawi, vol. 2019, pages 1-10, January.
    2. Zong-Yao Sun & Di Zhang & Qinghua Meng & Chih-Chiang Chen, 2019. "Feedback stabilisation of time-delay nonlinear systems with continuous time-varying output function," International Journal of Systems Science, Taylor & Francis Journals, vol. 50(2), pages 244-255, January.
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