Motion control of an AUV based on disturbance observer for tidal current estimation

Miyakawa, Ryo, Nishida, Yuya, Thornton, Blair and Ishii, Kazuo (2023) Motion control of an AUV based on disturbance observer for tidal current estimation. In OCEANS 2023 - MTS/IEEE U.S. Gulf Coast. IEEE. 5 pp . (doi:10.23919/OCEANS52994.2023.10337342).

Record type: Conference or Workshop Item (Paper)

Abstract

Japan's territorial waters contain vast space and abundant marine resources. In recent years, AUVs have been developed that can conduct resource surveys in various ocean areas. Improving the control performance of AUVs is essential for conducting wide-area and detailed oceanographic surveys. In this paper, designed an algorithm to modify the thrust balance of the thruster and an observer to estimate the tidal current as a disturbance. By considering the thrust balance of the horizontal thrusters, it is possible to estimate the tidal currents on the AUV. In future work, tests will be conducted in sea without cables installed to eliminate estimation errors due to cable tension, and to evaluate the control performance of the control system with the addition of a disturbance observer to estimate the tidal current.

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