Control and guidance approach using an Autonomous Underwater Vehicle
Control and guidance approach 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 a State-Dependent Riccati equation approach is introduced. The method provides optimal motion control efforts and robustness for an autonomous underwater vehicle (AUV) decoupled system whilst eliminating chattering effects. A path planning strategy for homing and docking is introduced. An artificial potential field and a vector field 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 predefined path to a required position with the final desired orientation. In order to improve a docking manoeuvre, a switched weight technique is proposed for controlling a vehicle's path and final stage docking. Integration of a control and guidance system gives a complete system for this application. The simulation studies are shown in the paper.
autonomous, underwater, vehicle
1-12
Jantapremjit, P
34085904-d515-483e-be99-c3b2707f1229
Wilson, P.A.
8307fa11-5d5e-47f6-9961-9d43767afa00
12 August 2008
Jantapremjit, P
34085904-d515-483e-be99-c3b2707f1229
Wilson, P.A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Jantapremjit, P and Wilson, P.A.
(2008)
Control and guidance approach using an Autonomous Underwater Vehicle.
Transactions of The Royal Institution of Naval Architects Part A: International Journal of Maritime Engineering, 150 (A2), .
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 efforts and robustness for an autonomous underwater vehicle (AUV) decoupled system whilst eliminating chattering effects. A path planning strategy for homing and docking is introduced. An artificial potential field and a vector field 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 predefined path to a required position with the final desired orientation. In order to improve a docking manoeuvre, a switched weight technique is proposed for controlling a vehicle's path and final stage docking. Integration of a control and guidance system gives a complete system for this application. The simulation studies are shown in the paper.
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Submitted date: 23 November 2007
Published date: 12 August 2008
Keywords:
autonomous, underwater, vehicle
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 50935
URI: http://eprints.soton.ac.uk/id/eprint/50935
ISSN: 1479-8751
PURE UUID: c060a262-4e6e-4fca-8514-cd91ffe99a9c
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Date deposited: 22 Apr 2008
Last modified: 16 Mar 2024 02:35
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Author:
P Jantapremjit
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