Towards the stabilization of an underactuated underwater vehicle in the presence of unknown disturbances

Panagou, D; Karras, G; Kyriakopoulos, K

dc.contributor.author	Panagou, D	en
dc.contributor.author	Karras, G	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:51:30Z
dc.date.available	2014-03-01T02:51:30Z
dc.date.issued	2008	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35524
dc.subject	Dynamic Model	en
dc.subject	Environmental Conditions	en
dc.subject	Sensor Fusion	en
dc.subject	Underwater Vehicles	en
dc.subject	unscented kalman filter	en
dc.subject	Gaussian White Noise	en
dc.title	Towards the stabilization of an underactuated underwater vehicle in the presence of unknown disturbances	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/OCEANS.2008.5152112	en
heal.identifier.secondary	http://dx.doi.org/10.1109/OCEANS.2008.5152112	en
heal.publicationDate	2008	en
heal.abstract	In this paper a dynamic model based control scheme is proposed for the stabilization of an underactuated underwater vehicle, in the presence of slowly varying, unknown disturbances. An unscented Kalman filter (UKF), based on the vehicle's dynamic model, is applied for the sensor fusion process to provide an estimation of the full state vector of the system. External disturbances and	en
heal.journalName	OCEANS Conference	en
dc.identifier.doi	10.1109/OCEANS.2008.5152112	en