Control and guidance approach using an Autonomous Underwater Vehicle

Jantapremjit, P and Wilson, P.A. (2008) Control and guidance approach using an Autonomous Underwater Vehicle. International Journal of Maritime Engineering, 150, (A2), 1-12.


[img] PDF - Author's Original
Restricted to Registered users only

Download (1165Kb) | 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 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.

Item Type: Article
ISSNs: 1479-8751 (print)
Keywords: autonomous, underwater, vehicle
Subjects: V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
V Naval Science > V Naval Science (General)
Divisions : University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
ePrint ID: 50935
Accepted Date and Publication Date:
12 August 2008Published
23 November 2007Submitted
Date Deposited: 22 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