This paper presents homing and docking autopilot design for the autonomous underwater vehicle (AUV). A nonlinear interrelated dynamic model of the underwater vehicle is considered. The AUV autopilot is designed on base of a position-trajectory control method. Adaptation of the control system is based on robust disturbances estimation. Modeling and hardware results approved feasibility of the proposed methods.
Homing and Docking Autopilot Design for Autonomous Underwater Vehicle
Applied Mechanics and Materials ; 490-491 ; 700-707
2014-01-28
8 pages
Article (Journal)
Electronic Resource
English
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