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Motion control of docking AUV in currents
Citation
Fan, S and Xu, Y and Li, B and Liu, C and Xu, W, Motion control of docking AUV in currents, Proceedings of OCEANS '15 MTS/IEEE Genova, 18-21 May 2015, Genoa, Italy, pp. 856-860. ISBN 978-1-4673-7164-3 (2015) [Non Refereed Conference Paper]
 | PDF (Shuangshuang Fan, Yuanxin Xu, Bo Li, Chenzhan Liu and Wen Xu. “Motion control of docking AUV in currents,” MTS/IEEE OCEANS'15 Genova, Italy, pp.1-7, 2015.5) Not available 406Kb |
Official URL: https://ieeexplore.ieee.org/document/7271748/
DOI: doi:10.1109/OCEANS-Genova.2015.7271748
Abstract
While ocean vehicles often operate in nonuniform currents, the effects of flow gradients on vehicle dynamics are typically ignored in motion models used for control. As applications for autonomous underwater vehicles (AUVs) expand into more constrained, dynamic environments, such as underwater docking, the benefits of using more precise motion models for motion prediction and control become more compelling. This paper presents a dynamic model for a streamlined underwater vehicle in a nonuniform flow. To illustrate the nonuniform flow effects, numerical motion predictions using the full dynamic model are compared in the flow fields with and without flow gradients. Due to the remarkable flow effects, cross-track feedback corrections are developed for docking control. The controller performance is validated by numerical simulations.
Item Details
| Item Type: | Non Refereed Conference Paper |
|---|---|
| Keywords: | dynamic model, motion prediction, crosstrack control, nonuniform currents |
| Research Division: | Engineering |
| Research Group: | Control engineering, mechatronics and robotics |
| Research Field: | Field robotics |
| Objective Division: | Defence |
| Objective Group: | Defence |
| Objective Field: | National security |
| UTAS Author: | Fan, S (Dr Shuangshuang Fan) |
| ID Code: | 125992 |
| Year Published: | 2015 |
| Deposited By: | NC Maritime Engineering and Hydrodynamics |
| Deposited On: | 2018-05-17 |
| Last Modified: | 2022-10-04 |
| Downloads: | 0 |
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