Optimal control and guidance for homing and docking tasks using an autonomous underwater vehicle
Optimal control and guidance for homing and docking tasks using an autonomous underwater vehicle
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.
Dokumentinformationen
Optimal control and guidance for homing and docking tasks using an autonomous underwater vehicle
2007
5 Seiten, 22 Quellen
Aufsatz (Konferenz)
Englisch
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