Showing papers on "Vehicle dynamics published in 1993"
TL;DR: In this paper, a continuous time deterministic optimal preview control algorithm is applied to the lateral guidance of a vehicle for an automated highway, where the front wheel steering angle of the vehicle is controlled so that the vehicle follows the center for a lane with small tracking error and maintains good ride quality simultaneously.
Abstract: The continuous time deterministic optimal preview control algorithm is applied to the lateral guidance of a vehicle for an automated highway. In the lateral guidance problem, the front wheel steering angle of the vehicle is controlled so that the vehicle follows the center for a lane with small tracking error and maintains good ride quality simultaneously. A preview control algorithm is obtained by minimizing a quadratic performance index which includes terms representing the passenger ride quality as well as the lateral tracking error, each of these terms is multiplied by a frequency dependent weight. It is shown that the optimal preview control law consists of a feedback control term and two feedforward control terms. The feedforward preview control action significantly improves the tracking performance and ride quality. Frequency-domain analyses, as well as numerical simulation results, show the improvements achieved by using the preview control algorithm in both the frequency and time domains.
315 citations
TL;DR: In this paper, the authors considered the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposed control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon.
Abstract: The paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. After discussing the main design objectives for the proposed control laws, the authors formulate these objectives as a constrained optimization problem. By solving this optimization problem, they obtain longitudinal control laws for a platoon of vehicles which does not use any communication from the lead vehicle to the other vehicles in the platoon. Comparison between these control laws and the control laws which use such a communication link to transmit lead-vehicle information to the other vehicles in a platoon shows that, in the case of loss of communication between the lead vehicle and the other vehicles, the performance of the longitudinal control laws degrades; however, this degradation is not catastrophic. >
226 citations
Book•
01 Mar 1993
TL;DR: The main types of vehicle-generated road damage, and the methods that are used by pavement engineers to analyze them are discussed in this article, and the main features of the response of road surfaces to vehicle loads and mathematical models that have been developed to predict road response are discussed.
Abstract: This paper discusses road damage caused by heavy commercial vehicles. Chapter 1 presents some important terminology and a brief historical review of road construction and vehicle-road interaction, from ancient times to the present day. The main types of vehicle-generated road damage, and the methods that are used by pavement engineers to analyze them are discussed in Chapter 2. Attention is also given to the main features of the response of road surfaces to vehicle loads and mathematical models that have been developed to predict road response. Chapter 3 reviews the effects on road damage of vehicle features which can be studied without consideration of vehicle dynamics. These include gross vehicle weight, axle and tire configurations, tire contact conditions and static load sharing in axle group suspensions. The dynamic tire forces generated by heavy vehicles are examined in Chapter 4. The discussion includes their simulation and measurement, their principal characteristics, the effects of tires and suspension design on dynamic forces, and the potential benefits of using advanced suspensions for minimizing dynamic tire forces. Chapter 5 discusses methods for estimating the effects of dynamic tire forces on road damage. The two main approaches are either to examine the statistics of the forces themselves; or to calculate the response of a pavement model to the forces, and to calculate the resulting wear using a material damage model. The issues involved in assessing vehicles for 'road friendliness' are discussed in Chapter 6. Possible assessment methods include measuring strains in an instrumented pavement traversed by the vehicle, measuring dynamic tire forces, or measuring vehicle parameters such as the 'natural frequency' and 'damping ratio'. Each of these measurements involves different assumptions and analysis methods for converting the results into some measure of road damage. Chapter 7 includes a summary of the main conclusions of the paper and recommendations for tire and suspension design, road design and construction, and for vehicle regulations.
167 citations
Journal Article•
TL;DR: In this paper, two platooning strategies, based on spacing or headway criterion, are proposed to solve the control requirements, decentralized nonlinear control strategies using throttle angle and brake torque control for a platoon were developed using a modification of the technique of Sliding Control and Input-Output Linearization.
Abstract: This report summarizes recent work done in the area of longitudinal control of a platoon of autonomous vehicles. As a prerequisite to controller design, a twelve state nonlinear model including an internal combustion engine, engine transmission dynamics, and tire friction characteristics has been developed. Two simplified models for simulation and controller design are presented. After outlining the control problem, two platooning strategies, based on spacing or headway criterion, are proposed. To solve the control requirements, decentralized nonlinear control strategies using throttle angle and brake torque control for a platoon were developed using a modification of the technique of Sliding Control and Input-Output Linearization. The quantities of primary concern are position and velocity tracking errors. Simulation results on multiple vehicle platoons demonstrate excellent tracking using the spacing-based controllers. The control strategies were implemented experimentally on the Integrated Platoon Control System (IPCS) during two and four car platoon testing.
92 citations
TL;DR: This paper gives a review of multibody simulation software for vehicle system dynamics and finds surveying and benchmarking appear to be useful for guiding decisions.
Abstract: This paper gives a review of multibody simulation software for vehicle system dynamics. Computer aided engineering has moved more strongly into vehicle system dynamics through the development of multibody computer codes. Available software packages are quite numerous and comparisons between them are difficult to make. The comparison problem is multi-objective and it is not feasible to establish the best in any overall sense. However, surveying and benchmarking appear to be useful for guiding decisions. For the covering abstract see IRRD 860691.
69 citations
TL;DR: In this paper, a mathematical simulation and an experimental vehicle were used to clarify vehicle dynamics effected by traction force distribution, not only between the front and rear wheels but also between the left and right wheels.
Abstract: SUMMARY The purpose of this study is to clarify vehicle dynamics effected by traction force distribution, not only between the front and rear wheels but also between the left and right wheels. Contribution of traction force distribution to vehicle turning performance was investigated using a mathematical simulation and an experimental vehicle. The results indicates that the control of traction control distribution between the left and right wheels greatly influences vehicle turning characteristics and improve the performance even in a marginal turning condition.
53 citations
02 May 1993
TL;DR: A learning control approach to an underwater robotic vehicle system using neural networks is described and results of computer simulation for pitch and altitude vehicle motion show the effectiveness of the proposed control system.
Abstract: A learning control approach to an underwater robotic vehicle system using neural networks is described. The objective is to have a robust control system with respect to changes in the vehicle dynamics and parameters. It has been observed that dominant vehicle dynamics vary with the vehicle velocity and that the effect of thruster dynamics becomes significant at low velocity in the vehicle control system. When it is necessary to operate the vehicle at low velocity (e.g., stationkeeping and hovering), the effect of thruster dynamics must be considered in the vehicle control system design. Results of computer simulation for pitch and altitude vehicle motion show the effectiveness of the proposed control system. >
50 citations
28 Mar 1993
TL;DR: The preliminary research on and implementation of a fuzzy logic controller to control wheel slip for an antilock brake system and the robustness of the fuzzy logic slip regulator was tested by varying operating conditions and external environmental variables.
Abstract: Describes the preliminary research on and implementation of a fuzzy logic controller to control wheel slip for an antilock brake system. The dynamics of braking systems are highly nonlinear and time-variant. Simulation was used to derive an initial rule base, which was then tested on an experimental brake system. The rules were further refined by analysis of the data acquired from vehicle braking maneuvers on a surface with a high coefficient of friction. The robustness of the fuzzy logic slip regulator was further tested by varying operating conditions and external environmental variables. >
48 citations
TL;DR: Simulations and practical tests confirm that a small-size feedforward autonomous neural network (21 neurons) can learn to steer a vehicle at high speeds only from looking at human-driving examples, including the nonlinear dynamics of the vehicle and the driver's individual driving style.
Abstract: A solution to autonomous lateral vehicle guidance using a neurocontroller that can learn from measured human-driving data without knowledge of the physical car parameters is discussed. Simulations and practical tests confirm that a small-size feedforward autonomous neural network (21 neurons) can learn to steer a vehicle at high speeds only from looking at human-driving examples. In this way, the network learns the total closed-loop behavior, including the nonlinear dynamics of the vehicle and the driver's individual driving style. The main result of practical investigations is that the neutral controller trained on human-driving examples exhibits an aperiodic behavior that does not vanish at higher speeds (tests performed up to 130 km/h) and produces fewer lateral deviations than the linear state controller. >
43 citations
TL;DR: In this paper, a predictor-corrector guidance algorithm is used to control the exit orbital apoapsis and wedge angle using bank-angle modulation, and the algorithm is capable of successfully guiding the vehicle through combinations of atmospheric density dispersions, aerodynamic mispredictions, and off-nominal atmospheric interface conditions.
Abstract: A six-degree-of-freedom (6DOF) simulation is developed to investigate the control and guidance issues of a Mars aerobraking vehicle. The guidance algorithm used is a predictor-corrector guidance formulation designed to control the exit orbital apoapsis and wedge angle using bank-angle modulation. Major features of this predictor-corrector guidance algorithm include: (1) integration of the 3DOF equations of motion within an inner-loop simulation; (2) load-relief logic; (3) finite roll rates; and (4) an aerodynamic feedback multiplier. The algorithm is capable of successfully guiding the vehicle through combinations of atmospheric density dispersions, aerodynamic mispredictions, and off-nominal atmospheric interface conditions. This study demonstrated that the addition of vehicle dynamics to the Mars aerobraking simulation does not significantly impact mission feasibility. That is, a robust control system design coupled with an adaptive guidance algorithm can assure mission success in the presence of numerous off-nominal conditions.
43 citations
15 Jun 1993-Jsme International Journal Series C-mechanical Systems Machine Elements and Manufacturing
TL;DR: In this article, the authors review basic suspension problems, suspension control types, theoretical approaches to active suspension control and applications to practical systems and present a survey of active and semi-active suspension control.
Abstract: The increasing demand for safety and ride comfort, especially at high speeds, has led to the development of actively controlled suspensions in ground vehicles such as automobiles, railways and maglev vehicles. The active or semi-active suspension replacing passive elements with controlled actuators or variable elements can theoretically and practically improve vehicle vibration isolation properties, dynamical responses of pitch, roll and yaw motions, and road holding and guideway tracking performances. This paper reviews basic suspension problems, suspension control types, theoretical approaches to active suspension control and applications to practical systems.
Abstract: Controls-structures interaction is a technology currently under development for application to large flexible space vehicles. The goal of this technology is the improvement of spacecraft performance through active control of the structural dynamic response of the vehicle. This goal is particularly important for modern spacecraft designs where large size and reduced stiffness make structural response a significant contributor to vehicle dynamics. Analysis and design methods have been developed to analyze and predict flexible spacecraft performance, but the technology remains largely unvalidated by hardware experiments, demonstrations, or applications, particularly in-space flight applications. One potential application considered is to provide active damping augmentation of the Space Shuttle remote manipulator system. The objective of actively damping the manipulator is to demonstrate improved structural dynamic response following payload maneuvers and Shuttle reaction control system thruster firings. This paper describes an initial analysis effort to determine the feasibility of controlling the flexible dynamic response of the arm. The approach to the study is summarized and results from both linear and nonlinear performance analyses of candidate control laws are presented. Results indicate that significant improvement in dynamic response can be achieved through active control if measured arm tip acceleration was made available for feedback.
TL;DR: In this paper, the authors apply QFT to the design of a longitudinal flight control system for a linear uncertain model of the AH-64 rotorcraft, where the uncertainty is attributed to actual uncertainty in the dynamic model and to the changes in the vehicle aerodynamic characteristics which occur near hover.
Abstract: Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. Quantitative Feedback Theory is applied to the design of the longitudinal flight control system for a linear uncertain model of the AH-64 rotorcraft. In this model, the uncertainty is assigned, and is assumed to be attributable to actual uncertainty in the dynamic model and to the changes in the vehicle aerodynamic characteristics which occur near hover. The model includes an approximation to the rotor and actuator dynamics. The design example indicates the manner in which handling qualities criteria may be incorporated into the design of realistic rotorcraft control systems in which significant uncertainty exists in the vehicle model.
TL;DR: In this paper, a simulation system of vehicle-occupant dynamic interaction is presented to investigate the effects of physical variables that influence automobile seat ride comfort, such as seat characteristics, stable posture of seat system for passengers, and engine shake on human dynamic behavior.
Abstract: Vehicle movement may critically influence ride comfort, so reliable analysis and simulation systems are needed in the design of a vehicle-occupant system. In order to predict the performance of a vehicle-occupant system, it is necessary to consider the vehicle and the occupant as a dynamically coupled oscillation. This paper is concerned with theoretical analysis and verification of the simulation system of vehicle-occupant dynamic interaction. The mathematical model has twelve degrees of freedom : a vehicle model with four masses is six degrees of freedom, and an occupant model with four masses, the hinged beam model, six degrees of freedom. The random roughness of an actual highway surface has been taken into account in the simulation system. Simulated results almost agreed with experimental values. This simulation system can be used as a tool to investigate the effects of physical variables that influence automobile seat ride comfort. The effects of seat characteristics, stable posture of seat system for passengers, and engine shake on human dynamic behavior can be investigated.
TL;DR: In this article, the authors describe the control problem of vehicle active suspension with hydropneumatic actuator consisting of converters, valves, pumps, and mechanic throttle, which are all nonlinear elements in reality, by means of the two degree of freedom model (1/4 car model) a new controller design method by using empirical rules which are expressed by fuzzy membership functions is performed.
TL;DR: In this paper, an underwater vehicle equipped with an obstacle avoidance sonar (OAS) and a navigation system can safely navigate an unknown minefield, taking into account the physical limitations of the sonar and navigation system, the maneuverability constraints on the underwater vehicle, and the required safe standoff distance from all mines.
Abstract: It is shown that by implementing certain mine avoidance techniques, an underwater vehicle equipped with an obstacle avoidance sonar (OAS) and a navigation system can safely navigate an unknown minefield. The mine avoidance techniques take into account the physical limitations of the sonar and the navigation system, the maneuverability constraints on the underwater vehicle, and the required safe standoff distance from all mines. Extensive computer simulations have verified the mine avoidance capability in more than 50 different minefields. In all 50 simulations the vehicle reached a predetermined end point and maintained at least the specified, minimum safe standoff distance from each mine. The simulation accurately models the major difficulties associated with the sonar, the navigation system, and the vehicle dynamics. The sonar model includes surface, bottom, and volume reverberation; thermal, ambient, and flow noises; actual receiver and projector beam patterns; and false alarms and missed detections. The navigation system model contains the effects of biases, random noises, and scale factor errors. The vehicle dynamic model simulates angular velocities and accelerations associated with underwater vehicles. >
01 Jan 1993
TL;DR: The problem of suspension systems with passive and actively controlled elements is formulated as an integrated modeling and design problem and three different approaches are discussed in detail.
Abstract: As an example for the optimal design of automotive systems, the problem of suspension systems with passive and actively controlled elements is formulated as an integrated modeling and design problem. For the modeling part, multibody formalisms are applied; the resulting nonlinear programming problem is solved by standard optimization algorithms. The missing link is an efficient and reliable procedure for computing gradients. Advantages and drawbacks of three different approaches are discussed in detail. Optimization of a vehicle with active and passive suspension is performed with respect to riding comfort, riding safety, and relative displacements between the wheels and the car body.
25 May 1993
TL;DR: A structure for the use of neural networks to represent the nonlinear inverse transformations needed for feedback linearization is proposed and evaluated and a second network is introduced which permits online learning.
Abstract: Aircraft dynamics are in general nonlinear, time-varying, and may be highly uncertain. Current-generation controllers rely on approximate linearized models of the aircraft and use gain scheduling to accommodate changes in vehicle dynamics as the flight regime varies. The techniques of feedback linearization provide a means of developing invariant controllers that give a desired response in all flight modes. However, the implementation of these techniques involves intensive online computations. The structure imposed by feedback linearization proves an ideal setting for introducing neural networks to the flight-control loop. In this paper, a structure for the use of neural networks to represent the nonlinear inverse transformations needed for feedback linearization is proposed and evaluated. In order to compensate for unmodeled nonlinearities and parameter drifg a second network is introduced which permits online learning. In addition, the paper addresses the robust stability problem in the context of neural-network representation error.
01 Mar 1993
TL;DR: In this paper, the authors investigated the B-train vehicle dynamics by integrating the three-dimensional vehicle model to the dynamics associated with the movement of free surface of liquid within the partially filled tanks.
Abstract: Directional dynamics of a B-train tank vehicle is investigated by integrating the three-dimensional vehicle model to the dynamics associated with the movement of free surface of liquid within the partially filled tanks. The motion of the free surface of liquid due to instantaneous tank roll and lateral acceleration is computed assuming steady state fluid flow conditions. The influence of liquid motion on the dynamic response of the rearmost trailer is investigated for both constant and transient steer inputs, assuming constant forward speed
01 Jan 1993
TL;DR: The main types of vehicle-generated road damage, and the methods that are used by pavement engineers to analyze them are discussed in this article, and the main features of the response of road surfaces to vehicle loads and mathematical models that have been developed to predict road response are discussed.
Abstract: This paper discusses road damage caused by heavy commercial vehicles Chapter 1 presents some important terminology and a brief historical review of road construction and vehicle-road interaction, from ancient times to the present day The main types of vehicle-generated road damage, and the methods that are used by pavement engineers to analyze them are discussed in Chapter 2 Attention is also given to the main features of the response of road surfaces to vehicle loads and mathematical models that have been developed to predict road response Chapter 3 reviews the effects on road damage of vehicle features which can be studied without consideration of vehicle dynamics These include gross vehicle weight, axle and tire configurations, tire contact conditions and static load sharing in axle group suspensions The dynamic tire forces generated by heavy vehicles are examined in Chapter 4 The discussion includes their simulation and measurement, their principal characteristics, the effects of tires and suspension design on dynamic forces, and the potential benefits of using advanced suspensions for minimizing dynamic tire forces Chapter 5 discusses methods for estimating the effects of dynamic tire forces on road damage The two main approaches are either to examine the statistics of the forces themselves; or to calculate the response of a pavement model to the forces, and to calculate the resulting wear using a material damage model The issues involved in assessing vehicles for 'road friendliness' are discussed in Chapter 6 Possible assessment methods include measuring strains in an instrumented pavement traversed by the vehicle, measuring dynamic tire forces, or measuring vehicle parameters such as the 'natural frequency' and' damping ratio' Each of these measurements involves different assumptions and analysis methods for converting the results into some measure of road damage Chapter 7 includes a summary of the main conclusions of the paper and recommendations for tire and suspension design, road design and construction, and for vehicle regulations (A)
01 Jan 1993
TL;DR: This paper presents results of the efforts to exploit the potential of parallel computer architectures for multibody simulation, and has its roots in an analysis of the status of knowledge at the time the above statement was made.
Abstract: In summer 1987 most of the multibody dynamics community met at the JPL, Pasadena, to discuss the needs and the open problems in multibody system simulation, especially for space applications. P. W. Likins stated in his survey [16]: “Computational questions focused initially on the selection of subroutines for numerical integration, matrix inversion, or eigensystem analysis,and lately have shifted to preprocessors and postprocessors for user convenience. More fundamental issues are raised by the potential of symbolic manipulation and parallel processing, both of which present the possibility of revolutionizing the field.” Concepts for symbolic implementation have been pursued at various places, e.g. [14, 21]. This paper presents results of our efforts to exploit the potential of parallel computer architectures for multibody simulation. It has its roots in an analysis of the status of knowledge at the time, the above statement was made.
14 Jul 1993
TL;DR: In this article, an accurate rule-based Kalman filtering technique for estimating the absolute speed of a vehicle is described. The enhanced accuracy is achieved by employing an additional accelerometer to complement the wheel-speed based speedometer.
Abstract: This paper describes an accurate rule-based Kalman filtering technique for estimating the absolute speed of a vehicle. The enhanced accuracy is achieved by employing an additional accelerometer to complement the wheel- speed based speedometer. The accelerometer measures the acceleration of the vehicle in its forward direction but may be affected by high frequency noise.
01 Dec 1993
TL;DR: In this article, the authors considered an auto-mated warehouse with stacker cranes and conveyance systems and found that the efficiency of the system depends on the specifications of the systems such as the locations of system components, number of vehicles, the number of incoming and outgoing conveyors, and buffer size of the conveyors connected to the warehouse.
Abstract: Looped-truck Automated Guided Vehicles (AGVs) systems considered in this paper comprise the auto- mated warehouse with stacker cranes and conveyance systems Efficiency of the system is found to depend on specifications of the systems such as the locations of the system components, the number of vehicles, the number of both incoming and outgoing conveyors, and the buffer size of the conveyors connected to the warehouse Analysis to measure cost effectiveness is performed, especially based on the number of AGVs to install In addition, sensitivity analysis is performed to seek the optimum system from both efficient and economic standpoints
04 May 1993
TL;DR: LaneTrak as mentioned in this paper uses a forward looking monochrome CCD camera and a real-time image processing system onboard the vehicle to identify the lane boundaries based on lane markers and road edges.
Abstract: Computer vision technology that automatically steers a passenger vehicle to keep it in its lane on a limited-access freeway is described. This system, LaneTrak, uses a forward looking monochrome CCD camera and a real-time image processing system on-board the vehicle. The image processing system identifies the lane boundaries based on lane markers and road edges. A pair of Kalman filters uses this information combined with vehicle dynamics sensor data to determine the vehicle angular heading error, lateral offset from the center of the road, and the lane curvature ahead. A preview proportional-integral control system determines the desired steering angle to keep the vehicle in the lane. The steering angle is then passed to another controller which activates an electric steering mechanism that positions the front wheels of the vehicle. We verified the full operation of LaneTrak with computer simulation before the system was designed and used a driving simulator to evaluate drivers' reaction to system failure. LaneTrak has been successfully demonstrated on a test track and on an unopened section of a limited-access freeway at highway speeds.© (1993) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.
01 Jan 1993
TL;DR: In this paper, the relative importance of the aerodynamic and propulsive effects on the vehicle dynamics is investigated with literal expressions for both the system poles and zeros, as well as the stability derivatives.
Abstract: With analytic expressions previously developed for the forces and moments acting on a generic hypersonic vehicle, it is of interest to investigate the relative importance of the aerodynamic and propulsive effects on the vehicle dynamics. It is shown that the vehicle's aerodynamics and propulsive forces are both very significant in the evaluation of key stability derivatives which dictate the vehicle's dynamic characteristics. It is also shown that the vehicle model selected is unstable in pitch and exhibits strong airframe/engine/elastic coupling. With the use of literal expressions for both the systems poles and zeros, as well as the stability derivatives, key vehicle dynamic characteristics are investigated. For small errors, or uncertainties, in either the aerodynamic or propulsive forces, significant errors in the frequency and damping of the dominant modes and zero locations will arise.
01 Jan 1993
TL;DR: Recently MBS with constraints are a subject for scientific investigation if kinematic loops are present or if subsystems are joined to form complex systems, which are then described by subsystem and not by generalized coordinates.
Abstract: Multibody system models (MBS) are well suited for many systems in the fields of robotics, vehicle dynamics, mechanisms and so on. While the first MBS were simple one-mass-oscillators or simple oscillator chains, nowadays rather complex models may be used which can be derived by symbolic operating generators for the equations of motion [1]. Recently MBS with constraints are a subject for scientific investigation. These systems arise if kinematic loops are present or if subsystems are joined to form complex systems, which are then described by subsystem and not by generalized coordinates.
01 Jan 1993
TL;DR: This work focuses on mechanical descriptor systems, i.
Abstract: In recent years the analysis and synthesis of linear time-invariant control systems in descriptor form have been established One important class of these systems are mechanical descriptor systems, i e mechanical systems with explicit holonomic and/or nonholonomic constraints They are important for many applications such as vehicle dynamics, machine dynamics, dynamics of robots etc All these applications use the theory of multibody systems If kinematic connections like joints are used or if subsystems are connected by constraints, the constraint equations may be used explicitly such that the mathematical model turns out to be with differential-algebraic equations, i e it is a descriptor system This natural system description has a clear physical meaning of the descriptor states
02 Jun 1993
TL;DR: A fuzzy logic control system is described which allows an Autonomous Underwater Vehicle (AUV) to safely dock with another moving umderwater vehicle.
Abstract: A fuzzy logic control system is described which allows an Autonomous Underwater Vehicle (AUV) to safely dock with another moving umderwater vehicle. The fuzzy logic controller's rulebase recursively drives the docking vehicle towards intermediate fuzzy targets that will put the vehicle in an increasingly better position from which docking is more achievable. A six degree of freedom non-linear model of the Ocean Voyager dynamics is used to test the performance of an AUV under fuzzy control. The imaginary docking collar is fixed to a simple, moving model of a 688 Los Angeles Class submarine. Docking is then attempted from any position around the submarine. Models of uncertainties in vehicle position sensing turbulence and hull suction effects are also included.