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).

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Description/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.

Item Type: Article
Digital Object Identifier (DOI): doi:10.1109/OCEANSKOBE.2008.4530935
Related URLs:
Keywords: control, guidance, docking, homing, auv, sliding mode control, state-dependent riccati equation
Subjects: V Naval Science > V Naval Science (General)
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Organisations: Fluid Structure Interactions Group
ePrint ID: 50915
Date :
Date Event
20 November 2007Submitted
7 April 2008Published
Date Deposited: 16 Apr 2008
Last Modified: 16 Apr 2017 18:07
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/50915

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