A Method of Reducing Invalid Steering for AUVs Based on a Wave Peak Frequency Tracker

Round 1

Reviewer 1 Report

The proposed study is described relatively specifically as a method for improving steering performance of AUV using a wave peak tracker.

However, some supplements are required for subscribers.

1. For subscribers, we need a detailed explanation of the Figure 1 heading control system block.

2. Figure 4 The estimation error can be shown by summing it up in Figure 3.

3. Simulation results are relatively specific. However, detailed description of the simulation method is required.

If necessary, the author can express through block diagrams and flow charts by adding the Method part.

Currently, this text only describes the Design of wave peak frequency tracker and heading control system.

4. The author can draw forward-looking conclusions about future experiments and applications along with the meaning of simulation methods and results.

This is a way to make the author's findings stand out a bit more.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

This paper presented an auxiliary model based recursive extended least squares identification algorithm for identifying the wave peak frequency, and designed a heading control system with wave peak frequency tracker of AUV.

Two main aspects need to be improved.

1) "Reduce the frequency and amplitude of the rudder angle" is not equal to“reduce the invalid steering of AUV" . To verify the effectiveness of reducing invalid steering, the number of invalid steering should be  stated firstly and contrasted with the number of invalid steering based on the wave peak frequency tracker. At least, the heading control curve should be given.

2) There are many methods to identify the  wave peak frequency. What is creative and advantageous for the presented method in this paper?  The contrast simulations with the other identification algorithm should be added. 

Author Response

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Author Response File: Author Response.pdf

Reviewer 3 Report

The authors have proposed a method to identify the wave peak frequency using a least square parameter estimation algorithm. The model's performance is shown in the simulation tests of the heading control system of AUV. The paper is written well and the results are promising. I have some minor comments which can be incorporated into the revised manuscript. 

1. How are authors modeling the propeller's thrust and the drag of an AUV?

2. Do the authors have any plan to validate the simulation results with field trials?

3. How does the proposed algorithm performs in the presence of noisy observations? How does it affect the parameter estimation?

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 4 Report

The article is interesting and contributes to the scientific literature

Author Response

Thanks for your positive comments.

Round 2

Reviewer 1 Report

Most of the doubts have been resolved.

The journal's form may require modification as appropriate.