Jantapremjit, Pakpong, Wilson, P. A. and Murphy, Alan J.
A study of autonomous docking with an AUV using intelligent controls.
In, International Conference on Underwater System Technology: Theory and applications 2006, Penang, Malaysia,
18 - 21 Aug 2006.
Autonomous docking using underwater vehicles will play an
important role in long-term underwater explorations and
surveys. The autonomous docking mission for an
autonomous underwater vehicle at a stationary platform
involves a vehicle and a platform matching both position,
orientation and velocity. The docking missions therefore
require intelligent control systems for precise and soft
operations. A study of the sliding mode control and the fuzzy
logic controller is proposed which provides stability and
robustness which bounds uncertainty and external
disturbances such as ocean currents. A proposed fuzz logic
based sliding mode controller can improve control
performances in docking operations. Furthermore, the
optimisation of the controllers using genetic algorithms
determines best candidate fuzzy sets to minimise docking
time and energy consumption.
Actions (login required)