Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle

摘要

In this paper, the simulation results of a control and guidance strategy for homing and docking tasks using an autonomousunderwater vehicle are presented. An optimal high-order sliding mode control via state-dependent Riccati equation approachis 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 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 anAUV to follow the predefined path to a required position with final desired orientation. A Line-of-Sight method is usedfor an AUV to follow the path. In order to improve a docking manoeuver, a switched weight technique is proposed forcontrolling a vehicle’s path and final stage docking.