A study of autonomous docking with an AUV using intelligent controls
A study of autonomous docking with an AUV using intelligent controls
Autonomous docking using underwater vehicles will play an important role in long-term underwater explorations and surveys. The autonomous docking mission for an autonomous underwater vehicle at a stationary platform involves a vehicle and a platform matching both position, orientation and velocity. The docking missions therefore require intelligent control systems for precise and soft operations. A study of the sliding mode control and the fuzzy logic controller is proposed which provides stability and robustness which bounds uncertainty and external disturbances such as ocean currents. A proposed fuzz logic based sliding mode controller can improve control performances in docking operations. Furthermore, the optimisation of the controllers using genetic algorithms determines best candidate fuzzy sets to minimise docking time and energy consumption.
underwater, autonomouse, docking, homing
12-16
Jantapremjit, Pakpong
8b28320d-cd86-458a-81fb-f2a48f227e5b
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Murphy, Alan J.
6bf4173d-ed56-4244-a929-2e81ee338701
August 2006
Jantapremjit, Pakpong
8b28320d-cd86-458a-81fb-f2a48f227e5b
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Murphy, Alan J.
6bf4173d-ed56-4244-a929-2e81ee338701
Jantapremjit, Pakpong, Wilson, P. A. and Murphy, Alan J.
(2006)
A study of autonomous docking with an AUV using intelligent controls.
International Conference on Underwater System Technology: Theory and applications 2006, Penang, Malaysia.
18 - 21 Aug 2006.
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
Autonomous docking using underwater vehicles will play an important role in long-term underwater explorations and surveys. The autonomous docking mission for an autonomous underwater vehicle at a stationary platform involves a vehicle and a platform matching both position, orientation and velocity. The docking missions therefore require intelligent control systems for precise and soft operations. A study of the sliding mode control and the fuzzy logic controller is proposed which provides stability and robustness which bounds uncertainty and external disturbances such as ocean currents. A proposed fuzz logic based sliding mode controller can improve control performances in docking operations. Furthermore, the optimisation of the controllers using genetic algorithms determines best candidate fuzzy sets to minimise docking time and energy consumption.
Text
USYS06_Pakpong_aStudyOfAutonomousDocking.pdf
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More information
Published date: August 2006
Venue - Dates:
International Conference on Underwater System Technology: Theory and applications 2006, Penang, Malaysia, 2006-08-18 - 2006-08-21
Keywords:
underwater, autonomouse, docking, homing
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 50939
URI: http://eprints.soton.ac.uk/id/eprint/50939
PURE UUID: e32ab2a6-125a-48e8-af4c-b023b5357967
Catalogue record
Date deposited: 22 Apr 2008
Last modified: 16 Mar 2024 02:35
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Contributors
Author:
Pakpong Jantapremjit
Author:
Alan J. Murphy
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