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Control and guidance approach using an Autonomous Underwater Vehicle

Record type: Article

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 efforts and robustness for an autonomous underwater vehicle (AUV) decoupled system whilst eliminating chattering effects. A path planning strategy for homing and docking is introduced. An articial potential field and a vector field 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 predefined path to a required position with the final desired orientation. In order to improve a docking manoeuvre, a switched weight technique is proposed for controlling a vehicle's path and final stage docking. Integration of a control and guidance system gives a complete system for this application. The simulation studies are shown in the paper.

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Citation

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.

More information

Submitted date: 23 November 2007
Published date: 12 August 2008
Keywords: autonomous, underwater, vehicle
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 50935
URI: http://eprints.soton.ac.uk/id/eprint/50935
ISSN: 1479-8751
PURE UUID: c060a262-4e6e-4fca-8514-cd91ffe99a9c
ORCID for P.A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 22 Apr 2008
Last modified: 17 Jul 2017 14:49

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Contributors

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

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