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- W90052281 abstract "In this paper, the simulation results of a control and guidance strategy for homing and docking tasks using an autonomous underwater vehicle are presented. An optimal high-order sliding mode control via a State-Dependent Riccati equation approach is introduced. The method provides optimal motion control efforts and robustness for an autonomous underwater vehicle (AUV) decoupled system whilst eliminating chattering effects. A path planning strategy for homing and docking is introduced. An artificial potential field and a vector field method give a desired trajectory using existing information from ocean network sensors. The Line-of-Sight method is used for an AUV to follow the path. It provides guidance for an AUV to follow the predefined path to a required position with the final desired orientation. In order to improve a docking manoeuvre, a switched weight technique is proposed for controlling a vehicle's path and final stage docking. Integration of a control and guidance system gives a complete system for this application. The simulation studies are shown in the paper." @default.
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- W90052281 date "2008-08-12" @default.
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- W90052281 title "Control and guidance approach using an Autonomous Underwater Vehicle" @default.
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