A two‐step control approach for docking of autonomous underwater vehicles |
| |
| Authors: | Pedro Batista Carlos Silvestre Paulo Oliveira |
| |
| Affiliation: | 1. Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal;2. Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau;3. Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal |
| |
| Abstract: | This paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright © 2014 John Wiley & Sons, Ltd. |
| |
| Keywords: | docking autonomous underwater vehicles nonlinear control |
|
|
