Motion Control of Catamaran-type Floating Station for Gripping the AUV

摘要

the paper exams the task of automated gripping and lifting a torpedo-shaped autonomous underwater vehicle (AUV) to the catamaran-type floating station. Performing the automated gripping and lifting of the AUV requires control of the relative position of the floating station and the AUV, choosing the most favorable time to minimize the speed and shock loads at the moment of gripping. The linear quadratic regulator is used to decrease the linear and angular motions of the floating station. The resulting solutions are tested by modeling.