Fig. 5: Observation of external disturbances.
From: A maneuverable underwater vehicle for near-seabed observation
a Sensor arrangement and corresponding angular acceleration acquisition method. \(\lambda\) represents the distances from the center of the body for inertial measurement unit (IMU) (2) and IMU (3). p, q, and r represent the angular velocities of the sensor along its own x, y, and z axes, respectively. Moreover, ay and az represent the accelerations of the sensor along its axis. b Comparison of the estimated angular acceleration by the offline learning model and the actual observed angular acceleration used for external disturbance observation is studied.\(\dot{\omega }\) represents the actual observed angular acceleration, \(\hat{\dot{\omega }}\) represents the angular acceleration predicted by the offline model, \(\hat{\phi }\),\(\hat{\theta }\) and \(\hat{\psi }\) represent the error increments utilized for resisting disturbances in the attitude controller during roll, pitch, and yaw control.
