<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1815-5928</journal-id>
<journal-title><![CDATA[Ingeniería Electrónica, Automática y Comunicaciones]]></journal-title>
<abbrev-journal-title><![CDATA[EAC]]></abbrev-journal-title>
<issn>1815-5928</issn>
<publisher>
<publisher-name><![CDATA[Universidad Tecnológica de La Habana José Antonio Echeverría, Cujae]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1815-59282020000100001</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Estimación en línea del efecto del oleaje para el control de un vehículo marino]]></article-title>
<article-title xml:lang="en"><![CDATA[Wave&#8217;s effect on-line estimation for controlling a marine vehicle.]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Garcia-Garcia]]></surname>
<given-names><![CDATA[Delvis]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Peña-Martín]]></surname>
<given-names><![CDATA[Jorge]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Hernández-Santana]]></surname>
<given-names><![CDATA[Luis]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Orozco-Morales]]></surname>
<given-names><![CDATA[Rubén]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Central "Marta Abreu" de Las Villas (UCLV) Facultad de Ingeniería Eléctrica Departamento de Automática y Sistemas Computacionales]]></institution>
<addr-line><![CDATA[Santa Clara Villa Clara]]></addr-line>
<country>Cuba</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>04</month>
<year>2020</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>04</month>
<year>2020</year>
</pub-date>
<volume>41</volume>
<numero>1</numero>
<fpage>1</fpage>
<lpage>17</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S1815-59282020000100001&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S1815-59282020000100001&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S1815-59282020000100001&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN El oleaje generado por el viento es un fenómeno totalmente aleatorio y constituye una de las principales perturbaciones que afectan el funcionamiento de los Vehículos Autónomos Subacuáticos (VAS) que operan a poca profundidad y en zonas costeras. Con el objetivo de atenuar el efecto indeseable de esta perturbación sobre el sistema de control de los VAS se filtran las mediciones obtenidas de los sensores haciendo uso de la frecuencia de incidencia del oleaje. Desarrollar un estimador capaz de brindar el valor de la frecuencia de incidencia del oleaje en tiempo real; mediante el método de Identificación Algebraica, constituye la finalidad de este trabajo. En el diseño del estimador algebraico propuesto se emplea una ecuación diferencial lineal para representar el espectro de las olas, lo cual simplifica el procedimiento matemático. Las simulaciones llevadas a cabo; tanto con datos simulados como con datos de un experimento real en el mar, muestran los excelentes resultados del estimador en cuanto a la exactitud en el valor final estimado y el tiempo de la estimación. Adicionalmente, se muestra el empleo de la estimación de la frecuencia de incidencia del oleaje para ajustar adecuadamente las técnicas de filtrado implementadas previamente para el vehículo, lo que trae consigo una reducción considerable de las vibraciones y del consumo de energía del sistema de timones del vehículo.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT Wind generated waves are a very random phenomenon and it is one of the main environmental disturbances that affect the operation of Autonomous Underwater Vehicles (AUV) navigating in shallow waters and coastal zones. In order to attenuate the undesirable effect of the ocean waves on the control system of AUVs, the measurements from the sensors need to be filtered out, using the estimated wave encounter frequency. Developing an estimator capable of providing the encounter frequency in real time using the Algebraic Identification method, is fully reported in this paper. In the design of the proposed algebraic estimator, a linear differential equation to represent the waves spectrum is used, which simplifies the mathematical procedure. The simulations carried out with simulated data and with real data from an experiment at sea, show the excellent results of the estimator in terms of precision in the final value and estimation time. In addition, its show the use of the wave encounter frequency estimation to adjust the filtering techniques previously implemented for the vehicle in a proper way, which results in a reduction of vibrations and energy consumption of the vehicle's rudder system.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Identificación Algebraica]]></kwd>
<kwd lng="es"><![CDATA[estimación]]></kwd>
<kwd lng="es"><![CDATA[frecuencia]]></kwd>
<kwd lng="es"><![CDATA[oleaje marino]]></kwd>
<kwd lng="es"><![CDATA[observador]]></kwd>
<kwd lng="en"><![CDATA[Algebraic Identification]]></kwd>
<kwd lng="en"><![CDATA[estimation]]></kwd>
<kwd lng="en"><![CDATA[frequency]]></kwd>
<kwd lng="en"><![CDATA[ocean waves]]></kwd>
<kwd lng="en"><![CDATA[observer]]></kwd>
</kwd-group>
</article-meta>
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