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Tracking control of autonomous underwater vehicles
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TLDR
In this paper, a means by which a vehicle may be made to track, in depth, dynamic motion with zero phase lag between the vehicle and the recovery platform utilizing an error space controller was investigated.Abstract:
Abstract : Recovery of Autonomous Underwater Vehicles (AUVs) can often be an autonomous operation itself. In the case of an AUV that is launched and recovered at some significant depth below the surface, the recovery platform to which the vehicle will dock is often not a stationary platform. The recovery cage/platform has dynamics associated with it, which are induced by wave motion effects on the ship to which the cage is tethered. In order to successfully recover a vehicle into a cage platform it will be preferred for the vehicle to have the capability to compensate for this motion when making its final approach to the cage. Using active compensation, a smaller cage can be utilized for recovery of an AUV. This research attempts to investigate a means by which a vehicle may be made to track, in depth, dynamic motion with zero phase lag between the vehicle and the recovery platform utilizing an error space controller.read more
Citations
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Proceedings ArticleDOI
Intermnittent Model Predictive Control of an Autonomous Underwater Vehicle
TL;DR: The continuous time model predictive control (MPC) algorithm, using Laguerre orthogonal functions, is extended to include intermittent features for manipulation of rudder and stern angle signals, to tolerate slower computational time and longer sampling interval.
Continuous-time model predictive control
TL;DR: Model Predictive Control (MPC) as discussed by the authors is a class of algorithms that optimize the future behavior of the plant subject to operational constraints, and it can handle imposed hard constraints on the system.
Proceedings Article
Research of regional stability with robust for the depth tracking of AUV based on error space
TL;DR: In this paper, a robust controller based on Linear Matrix Inequality (LMI) region stability is designed to track the time variation signals with characteristics of rapidity and robustness, which satisfies the requirements of H∞ performance and the regional stability constrains.
References
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Journal ArticleDOI
Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles
A.J. Healey,D. Lienard +1 more
TL;DR: In this article, a sliding-mode autopilot is designed for the combined steering, diving, and speed control functions of an AUV, assuming decoupled modeling, and the influence of speed, modeling nonlinearity, uncertainty, and disturbances can be effectively compensated.
Journal ArticleDOI
Command, control, and navigation experimental results with the NPS ARIES AUV
D.B. Marco,A.J. Healey +1 more
TL;DR: Provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle and its control and navigation and an attempt is made to highlight its current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility.
Proceedings ArticleDOI
A docking system for REMUS, an autonomous underwater vehicle
TL;DR: In this paper, the authors describe the docking system developed for the Remote Environmental Monitoring UnitS (REMUS), a low-cost AUV designed by the Oceanographic Systems Laboratory at the Woods Hole Oceanographic Institution.