Guidance-control based path following for
homing and docking using an Autonomous
Underwater Vehicle
Guidance-control based path following for
homing and docking using an Autonomous
Underwater Vehicle
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.
control, guidance, docking, homing, auv, sliding mode control, state-dependent riccati equation
1424408288
Jantapremjit, Pakpong
8b28320d-cd86-458a-81fb-f2a48f227e5b
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
7 April 2008
Jantapremjit, Pakpong
8b28320d-cd86-458a-81fb-f2a48f227e5b
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
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).
Abstract
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.
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Submitted date: 20 November 2007
Published date: 7 April 2008
Keywords:
control, guidance, docking, homing, auv, sliding mode control, state-dependent riccati equation
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 50915
URI: http://eprints.soton.ac.uk/id/eprint/50915
ISBN: 1424408288
PURE UUID: 483f58ac-556c-4d40-bdb3-4ae4ff8b07a7
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Date deposited: 16 Apr 2008
Last modified: 16 Mar 2024 02:35
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Author:
Pakpong Jantapremjit
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