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

Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle
Optimal control and guidance of homing and docking tasks 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 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.
control, guidance, docking, homing, auv, sliding mode control, state-dependent riccati equation
1424408288
243-248
Jantapremjit, Pakpong
8b28320d-cd86-458a-81fb-f2a48f227e5b
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Jantapremjit, Pakpong
8b28320d-cd86-458a-81fb-f2a48f227e5b
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00

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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More information

Published date: 5 August 2007
Keywords: control, guidance, docking, homing, auv, sliding mode control, state-dependent riccati equation
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 48138
URI: http://eprints.soton.ac.uk/id/eprint/48138
ISBN: 1424408288
PURE UUID: 091daeed-a379-4234-a13f-61a4941275cd
ORCID for P. A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 31 Aug 2007
Last modified: 09 Jan 2022 02:34

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Contributors

Author: Pakpong Jantapremjit
Author: P. A. Wilson ORCID iD

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