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