Control and guidance approach using an Autonomous Underwater Vehicle


Jantapremjit, P and Wilson, P.A. (2008) Control and guidance approach using an Autonomous Underwater Vehicle The Transactions of the Royal Institution of Naval Architects Part A: International Journal of Maritime Engineering, 150, (A2), pp. 1-12.

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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 a State-Dependent Riccati equation approach is introduced. The method provides optimal motion control eorts and robustness for an autonomous underwater vehicle (AUV) decoupled system whilst eliminating chattering eects. A path planning strategy for homing and docking is introduced. An articial potential eld and a vector eld method give a desired trajectory using existing information from ocean network sensors. The Line-of-Sight method is used for an AUV to follow the path. It provides guidance for an AUV to follow the predened path to a required position with the nal desired orientation. In order to improve a docking manoeuvre, a switched weight technique is proposed for controlling a vehicle's path and nal stage docking. Integration of a control and guidance system gives a complete system for this application. The simulation studies are shown in the paper.

Item Type: Article
ISSNs: 1479-8751 (print)
Keywords: autonomous, underwater, vehicle
Subjects:
Organisations: Fluid Structure Interactions Group
ePrint ID: 50935
Date :
Date Event
23 November 2007Submitted
12 August 2008Published
Date Deposited: 22 Apr 2008
Last Modified: 16 Apr 2017 18:07
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/50935

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