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Keywords: ekf
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Proceedings Papers
The Sliding Mode Controller For a Test Bed AUV-SNUUV I
Available to Purchase
Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-001
... for the test bed autonomous underwater vehicle (AUV) named by SNUUV I (Seoul National University Underwater Vehicle I). A 6 DOF dynamic model for the SNUUV I is derived with hydrodynamic coefficients, which are estimated with the help of the Extended Kalman Filter (EKF) and a potential code. Based...
