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Control and guidance for homing and docking tasks using an autonomous underwater vehicle

Record type: Article

This paper presents the results of a control and
guidance strategy for homing and docking tasks using an
autonomous underwater vehicle. 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 average
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 path to a required position with final desired orientation.
A Line-of-Sight method is used for an AUV to follow the
predefined 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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Citation

Jantapremjit, Pakpong and Wilson, P.A. (2007) Control and guidance for homing and docking tasks using an autonomous underwater vehicle Mechatronics and Automation, pp. 3672-3677. (doi:10.1109/ICMA.2007.4303548).

More information

Published date: 5 August 2007
Additional Information: ThC6.5
Keywords: autonomous, underwater, vehicles, control
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 49878
URI: http://eprints.soton.ac.uk/id/eprint/49878
ISBN: 9781424408283
PURE UUID: f63af8fa-e253-4f22-a879-49b7c29ae4a9
ORCID for P.A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 10 Dec 2007
Last modified: 17 Jul 2017 14:54

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Contributors

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

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