文献类型：期刊文献

英文题名：A Method of Reducing Invalid Steering for AUVs Based on a Wave Peak Frequency Tracker

作者：Yuan, Jianping[1];Li, Jin[2];Dong, Zhihui[1];Chen, Qinglong[1];Sun, Hanbing[3]

机构：[1]Guangdong Ocean Univ, Coll Ocean Engn, Zhanjiang 524088, Peoples R China;[2]Jiujiang Univ, Coll Sci, Jiujiang 332005, Peoples R China;[3]China State Shipbldg Corp, Res Inst 707, Jiujiang Branch, Jiujiang 332005, Peoples R China

年份：2022

卷号：14

期号：22

外文期刊名：SUSTAINABILITY

收录：SSCI(收录号：WOS:000887651800001)、SCI-EXPANDED(收录号：WOS:000887651800001)、、Scopus(收录号：2-s2.0-85142679165)、WOS

基金：This research was funded by Guangdong Province under the 2019 Ordinary University Key Areas Special Project (2019KZDZX1024) and for Science and Technology in Underwater Vehicle Technology (JCKYS2021SXJQR-02).

语种：英文

外文关键词：least squares; wave frequency tracker; recursive identification; parameter estimation

外文摘要：The motion control of autonomous underwater vehicles (AUVs) is affected by waves near the ocean surface or in shallow-water areas. Therefore, to counteract the influence of waves, we need to remove them by designing a filter. The wave peak frequency is important in wave filter design. This paper focuses on the identification of the wave peak frequency using the least-squares parameter estimation algorithm. The input-output expression of the wave disturbance model is derived by eliminating the intermediate variable. Based on the obtained identification model, an auxiliary model-based recursive extended least-squares identification algorithm is developed to estimate the model parameters. The effectiveness of the proposed method is verified with simulated tests of the heading control system of an AUV. The simulation results demonstrate that the proposed method is effective for the identification of the wave peak frequency, and an observer with a wave peak frequency tracker can significantly reduce invalid steering.