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Control and guidance for homing and docking tasks using an autonomous underwater vehicle

By Pakpong Jantapremjit and P.A. Wilson

Abstract

This paper presents the results of a control and<br/>guidance strategy for homing and docking tasks using an<br/>autonomous underwater vehicle. An optimal high-order sliding<br/>mode control via state-dependent Riccati equation approach is<br/>introduced providing a robustness of motion control including<br/>elimination of chattering effect for decoupled systems of an<br/>AUV. Motion planning for a docking is introduced. The average<br/>vector field based on an artificial potential field method gives<br/>a desired trajectory using existing information from ocean<br/>network sensors. It provides a guidance for an AUV to follow<br/>the path to a required position with final desired orientation.<br/>A Line-of-Sight method is used for an AUV to follow the<br/>predefined path. In order to improve a docking manoeuver, a<br/>switched weight technique is proposed for controlling a vehicle’s<br/>path and final stage docking

Topics: VM, QC
Year: 2007
OAI identifier: oai:eprints.soton.ac.uk:49878
Provided by: e-Prints Soton
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