Sensor-based motion control of autonomous underwater vehicles, part I: Modeling and low-complexity state estimation 2020 (English)In: Autonomous Underwater Vehicles, Institution of Engineering and Technology , 2020, p. 15-43Chapter in book (Other academic)

Abstract [en]

The goal of this chapter is to provide the reader with the appropriate analytical methods, in order to derive a simple yet accurate vehicle model, design a state estimation algorithm that could be easily integrated into the embedded system framework of an underwater robotic vehicle and perform a fast online dynamic parameter identification.

Place, publisher, year, edition, pages

Institution of Engineering and Technology , 2020. p. 15-43

Keywords [en]

Autonomous underwater vehicles, Embedded system, Fast online dynamic parameter identification, Low-complexity state estimation, Marine system control, Mobile robots, Sensor-based motion control, Simulation, modelling and identification, State estimation, Telerobotics, Underwater robotic vehicle, Vehicle model

National Category

Control Engineering

Identifiers

URN: urn:nbn:se:kth:diva-304653DOI: 10.1049/sbra525e_ch2Scopus ID: 2-s2.0-85099882264OAI: oai:DiVA.org:kth-304653DiVA, id: diva2:1610197

Note

Parto of book: ISBN 9781785617034

QC 20211110

Available from: 2021-11-10 Created: 2021-11-10 Last updated: 2024-01-10Bibliographically approved

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Heshmati Alamdari, Shahabodin

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Decision and Control Systems (Automatic Control)

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Control Engineering

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