Parameter estimation and control of an unmanned underwater vehicle

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Identificadores
URI: http://hdl.handle.net/10902/20716
ISSN: 1697-4840
ISSN: 1697-9133
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Autoría
Velasco González, Francisco JesúsAutoridad Unican; Revestido Herrero, ElíasAutoridad Unican; Lastra Santos, Francisco JavierAutoridad Unican; Riola Rodríguez, José María; Díaz Hernández, Juan Jesús
Fecha
2013
Derechos
© SEECMAR
Publicado en
Journal of Maritime Research, 2013, 10(3), 29-36
Editorial
Universidad de Cantabria, Escuela Técnica Superior de Náutica / Sociedad Española de Estudios Científicos Marinos (SEECMAR)
Palabras clave
Parameter estimation
Manoeuvring model
Heading control
Line of sight
Resumen/Abstract
In the present article, based on a specific set of trials carried out in the CEHIPAR model basin, a parameter estimation of a torpedo-shaped underwater vehicle is performed. A complete modelling of the underwater vehicle is performed considering the dynamics of the vehicle and its actuators with data acquired in the model basin. Thanks to the obtained model, a heading controller is designed and tested in a guidance system for a manoeuvre defined by way points.
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