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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]


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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:Electrical and Electronic Engineering
Research Field:Control Systems, Robotics and Automation
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:2019-06-12
Downloads:0

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