Interval Velocity Estimation for Unmanned Underwater Vehicles

Jitao Li; Zhenhua Wang; Yujia Wang; Mingjun Zhang; Tarek Raissi

doi:10.1109/LCSYS.2022.3221783

Interval Velocity Estimation for Unmanned Underwater Vehicles

Jitao Li^*
, Zhenhua Wang
, Yujia Wang
, Mingjun Zhang
, Tarek Raissi

^*Corresponding author for this work

College of Mechanical and Electrical Engineering, Harbin Engineering University
School of Astronautics, Harbin Institute of Technology
Conservatoire national des arts et métiers

Research output: Contribution to journal › Article › peer-review

17 Scopus citations

Abstract

This letter addresses the problem of interval velocity estimation for unmanned underwater vehicles subject to multiple model uncertainties. We extend our previous works to the case of large initial bounds on uncertainties by introducing an adaptive mechanism. For improving the accuracy of interval estimation, H∞ approach is used in the design of interval observer to attenuate the effect of uncertainties. Sufficient design conditions are formulated as a set of linear matrix inequalities. Simulation results demonstrate the effectiveness of the proposed method.

Original language	English
Pages (from-to)	715-720
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	7
DOIs	https://doi.org/10.1109/LCSYS.2022.3221783
State	Published - 2023
Externally published	Yes

Keywords

Happroach
Unmanned underwater vehicle
interval observer

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10.1109/LCSYS.2022.3221783

Cite this

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title = "Interval Velocity Estimation for Unmanned Underwater Vehicles",

abstract = "This letter addresses the problem of interval velocity estimation for unmanned underwater vehicles subject to multiple model uncertainties. We extend our previous works to the case of large initial bounds on uncertainties by introducing an adaptive mechanism. For improving the accuracy of interval estimation, H∞ approach is used in the design of interval observer to attenuate the effect of uncertainties. Sufficient design conditions are formulated as a set of linear matrix inequalities. Simulation results demonstrate the effectiveness of the proposed method.",

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author = "Jitao Li and Zhenhua Wang and Yujia Wang and Mingjun Zhang and Tarek Raissi",

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year = "2023",

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AU - Li, Jitao

AU - Wang, Zhenhua

AU - Wang, Yujia

AU - Zhang, Mingjun

AU - Raissi, Tarek

PY - 2023

Y1 - 2023

N2 - This letter addresses the problem of interval velocity estimation for unmanned underwater vehicles subject to multiple model uncertainties. We extend our previous works to the case of large initial bounds on uncertainties by introducing an adaptive mechanism. For improving the accuracy of interval estimation, H∞ approach is used in the design of interval observer to attenuate the effect of uncertainties. Sufficient design conditions are formulated as a set of linear matrix inequalities. Simulation results demonstrate the effectiveness of the proposed method.

AB - This letter addresses the problem of interval velocity estimation for unmanned underwater vehicles subject to multiple model uncertainties. We extend our previous works to the case of large initial bounds on uncertainties by introducing an adaptive mechanism. For improving the accuracy of interval estimation, H∞ approach is used in the design of interval observer to attenuate the effect of uncertainties. Sufficient design conditions are formulated as a set of linear matrix inequalities. Simulation results demonstrate the effectiveness of the proposed method.

KW - Happroach

KW - Unmanned underwater vehicle

KW - interval observer

UR - https://www.scopus.com/pages/publications/85142783166

U2 - 10.1109/LCSYS.2022.3221783

DO - 10.1109/LCSYS.2022.3221783

M3 - 文章

AN - SCOPUS:85142783166

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VL - 7

SP - 715

EP - 720

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

ER -

Interval Velocity Estimation for Unmanned Underwater Vehicles

Abstract

Keywords

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