A Two-Step Approach to Velocity Interval Estimation for Autonomous Underwater Vehicles

A two-step velocity interval estimation approach is proposed for autonomous underwater vehicles in the context of peak-bounded perturbations. The proposed method first designs a H∞ norm-based observer to mitigate the impact of disturbances and measurement noises. Based on this robust observer, the velocity interval estimation can be obtained by utilizing reachability analysis. Numerical simulations are given to validate the effectiveness and superiority of the proposed method.