Wave filtering for heading control of an AUV based on passive observer

Abstract

In this paper, the heading control of an Autonomous Underwater Vehicle is improved in order to counteract the undesirable effect of the waves in the actuators system. Wave filter suggested is a linear passive observer and includes features like estimation of both the low frequency heading and heading rate of the vehicle from noisy measurement of an Inertial Measurement Unit, removing the oscillatory component. Matlab/Simulink tool is used to show the proposed solution into the control loop, its performance and the simulation with real data. The experimental results confirm the suitable filtering, the estimating properties of the observer and the navigation response expected, reducing control action and thus vibrations of the rudder.