NDLI: Adaptive filter applications to autonomous underwater vehicle

Content Provider	IEEE Xplore Digital Library
Author	Lainiotis, D.G. Menon, D. Plataniotis, K.N. Charalampous, C.J.
Copyright Year	1993
Description	Author affiliation: Florida Inst. of Technol., Melbourne, FL, USA (Lainiotis, D.G.; Menon, D.; Plataniotis, K.N.; Charalampous, C.J.)
Abstract	A powerful adaptive filter algorithm for estimation of forces acting on an Autonomous Underwater Vehicle (AUV) and the corresponding adaptive control law which determines the desired heading commands are considered in this paper. Due to the complicated nature of AUV's task and incorporation of the ocean current, uncertain parameters arise in the equations of motion that constitute the AUV's dynamic model. Based on the Lainiotis Partitioning Theory, a highly adaptive scheme is used to estimate the velocity components for controlling the vehicle. Extensive simulations demonstrate the robustness and the effectiveness of the new scheme in a variety of different environments.
File Size	336666
File Format	PDF
ISBN	0780313852
DOI	10.1109/OCEANS.1993.326109
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-10-18
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive filters Underwater vehicles Adaptive control Remotely operated vehicles Vehicle dynamics Programmable control Nonlinear equations Q measurement Motion measurement Rotation measurement
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Adaptive filter applications to autonomous underwater vehicle