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

Control and guidance for homing and docking tasks using an autonomous underwater vehicle
Control and guidance for homing and docking tasks using an autonomous underwater vehicle
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.
autonomous, underwater, vehicles, control
9781424408283
3672-3677
Jantapremjit, Pakpong
a77ee0fd-920d-4d2a-a474-61cba53c63b7
Wilson, P.A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Jantapremjit, Pakpong
a77ee0fd-920d-4d2a-a474-61cba53c63b7
Wilson, P.A.
8307fa11-5d5e-47f6-9961-9d43767afa00

Jantapremjit, Pakpong and Wilson, P.A. (2007) Control and guidance for homing and docking tasks using an autonomous underwater vehicle. In IEEE International Conference on Intelligent Robots and Systems. pp. 3672-3677 . (doi:10.1109/IROS.2007.4398953).

Record type: Conference or Workshop Item (Paper)

Abstract

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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More information

e-pub ahead of print date: 10 December 2007
Published date: 10 December 2007
Additional Information: ThC6.5
Venue - Dates: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), , San Diego, United States, 2007-10-29 - 2007-11-02
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: 09 Jan 2022 02:34

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Contributors

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

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