Analysis of a Multi-Objective Observer for UUVs

UUVs (Unmanned Underwater Vehicles) were introduced in the past to perform various operations in the ocean environment such as marine biology mapping and monitoring, archaeology and oil and gas inspections and interventions. In this paper the operatively range of the UUVs is explored and the possibility of using it in the wave zone is analysed. Then a multi-objective control system that is able to operate into different model regimes could be designed. This aspect moves the main interest to the observer module, that should be able to produce good estimations of the system state regardless from the environment conditions or the mission characteristics. This paper addressed a switching observer for a multi-objective controller where simulation results based on a medium-sized ROV model are reported and discussed.