Guidance-control based path following for homing and docking using an Autonomous Underwater Vehicle

Jantapremjit, Pakpong and Wilson, P. A. (2008) Guidance-control based path following for homing and docking using an Autonomous Underwater Vehicle. Oceans'08 (doi:10.1109/OCEANSKOBE.2008.4530935).


[img] PDF - Version of Record
Restricted to Registered users only

Download (1483Kb) | Request a copy


In this paper, the simulation results of a control and guidance strategy for homing and docking tasks using an autonomous
underwater vehicle are presented. An optimal high-order sliding mode control via state-dependent Riccati equation approach
is introduced providing a robustness of motion control including elimination of chattering effect for decoupled systems of an AUV. Motion planning for a docking is introduced. The vector field based on an artificial potential field method gives a desired trajectory using existing information from ocean network sensors. It provides a guidance for an
AUV to follow the predefined path to a required position with final desired orientation. A Line-of-Sight method is used
for an AUV to follow the path. In order to improve a docking manoeuver, a switched weight technique is proposed for
controlling a vehicle’s path and final stage docking.

Item Type: Article
Digital Object Identifier (DOI): doi:10.1109/OCEANSKOBE.2008.4530935
ISBNs: 1424408288 (hardback)
Related URLs:
Keywords: control, guidance, docking, homing, auv, sliding mode control, state-dependent riccati equation
Subjects: V Naval Science > V Naval Science (General)
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions : University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
ePrint ID: 50915
Accepted Date and Publication Date:
7 April 2008Published
20 November 2007Submitted
Date Deposited: 16 Apr 2008
Last Modified: 31 Mar 2016 12:28

Actions (login required)

View Item View Item

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics