This paper presents the results of a control and guidance strategy for homing and docking tasks using an autonomous underwater vehicle. 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 average 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 path to a required position with final desired orientation. A line-of-sight method is used for an AUV to follow the predefined path. In order to improve a docking manoeuver, a switched weight technique is proposed for controlling a vehicle's path and final stage docking.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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



    Publication date :

    2007


    Size :

    5 Seiten, 22 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Autonomous underwater vehicle homing/docking via electromagnetic guidance

    Feezor, M.D. / Yates Sorrell, F. / Blankinship, P.R. et al. | Tema Archive | 2001


    Homing and Docking Autopilot Design for Autonomous Underwater Vehicle

    Pshikhopov, V.K. ;Medvedev, M.Yu. ;Gurenko, B.V. | Trans Tech Publications | 2014


    Funnel apparatus for autonomous underwater vehicle docking guidance

    CHOI JONG SU / KIM SEONG SOON / KIM HYUNG WOO et al. | European Patent Office | 2024

    Free access

    Autonomous Underwater Vehicle Docking

    Bellingham, James G. | Springer Verlag | 2016