Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle

Jantapremjit, Pakpong and Wilson, P. A. (2007) Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle. International conference on Mechatronics and applications 2007, 243-248. (doi:10.1109/ICMA.2007.4303548).

Record type: Article

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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