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Guidance-control based path following for homing and docking using an Autonomous Underwater Vehicle

Jantapremjit, Pakpong and Wilson, P. A. (2008) Guidance-control based path following for homing and docking using an Autonomous Underwater Vehicle Oceans'08 (doi:10.1109/OCEANSKOBE.2008.4530935).

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

Submitted date: 20 November 2007
Published date: 7 April 2008
Keywords: control, guidance, docking, homing, auv, sliding mode control, state-dependent riccati equation
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 50915
URI: http://eprints.soton.ac.uk/id/eprint/50915
ISBN: 1424408288
PURE UUID: 483f58ac-556c-4d40-bdb3-4ae4ff8b07a7
ORCID for P. A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 16 Apr 2008
Last modified: 17 Jul 2017 14:50

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Contributors

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

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