Control and guidance approach using an Autonomous Underwater Vehicle

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Description/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 a State-Dependent
Riccati equation approach is introduced. The method provides optimal motion control eorts and robustness
for an autonomous underwater vehicle (AUV) decoupled system whilst eliminating chattering eects. A path
planning strategy for homing and docking is introduced. An articial potential eld and a vector eld method
give a desired trajectory using existing information from ocean network sensors. The Line-of-Sight method is
used for an AUV to follow the path. It provides guidance for an AUV to follow the predened path to a required
position with the nal desired orientation. In order to improve a docking manoeuvre, a switched weight technique
is proposed for controlling a vehicle's path and nal stage docking. Integration of a control and guidance system
gives a complete system for this application. The simulation studies are shown in the paper.