Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle
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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
2007-08-05.
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| Subjects: | |
| Online Access: | Get fulltext |
| Summary: | 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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