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Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle

By Pakpong Jantapremjit and P. A. Wilson

Abstract

In this paper, the simulation results of a control and guidance strategy for homing and docking tasks using an autonomous<br/>underwater vehicle are presented. An optimal high-order sliding mode control via state-dependent Riccati equation approach<br/>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<br/>AUV to follow the predefined path to a required position with final desired orientation. A Line-of-Sight method is used<br/>for an AUV to follow the path. In order to improve a docking manoeuver, a switched weight technique is proposed for<br/>controlling a vehicle’s path and final stage docking

Topics: V1, VM
Year: 2007
OAI identifier: oai:eprints.soton.ac.uk:48138
Provided by: e-Prints Soton

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