Control and guidance for homing and docking tasks using an autonomous underwater vehicle

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 3672-3677

  Jantapremjit, Pakpong ^a   Wilson, Philip A ^a  

^a UNIVERSITY OF SOUTHAMPTON   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS UNDERWATER VEHICLES; COMPUTER NETWORKS; CONTROL THEORY; DIFFERENTIAL EQUATIONS; DOCKING; EQUATIONS OF MOTION; INTELLIGENT ROBOTS; MOTION PLANNING; RICCATI EQUATIONS; ROBOTICS; SENSOR NETWORKS; SLIDING MODE CONTROL; SUBMERSIBLE MOTORS; SUBMERSIBLES; UNDERWATER BALLISTICS; UNDERWATER CONSTRUCTION; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; WATER CRAFT;

INTERNATIONAL CONFERENCES; LINE-OF-SIGHT METHODS; UNDERWATER VEHICLES;

INTELLIGENT SYSTEMS;

EID: 51349164021     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4398953     Document Type: Conference Paper

References (22)

1. J, Yuh, "Design and control of autonomous underwater robots: A survey," Autonomous Robots, vol, 8, pp. 7-24, 2000.
2. T. Fossen, Guidance and Control of Ocean Vehicles. England: John Wiley and Sons Ltd., 1994.
3. D. Boskovic and M, Krstic, "Global attitude/position regulation for underwater vehicles," International Journal of Systems Science, vol. 30, no. 9, pp. 939-946, 1999.
4. P. Tsiotras, "New control laws for the attitude stabilization of rigid bodies," IFAC Symposium on Automatic Control in Aerospace, pp. 12-16, 1994.
5. J. Slotine and W, Li, Applied Nonlinear Control. New Jersey: Prentice-Hall, Inc, 1991.
6. V. Utkin, Sliding Modes and Their Application in Variable Structure Systems. Moscow: MIR Publishers, 1978.
7. C. Vuilmet, "High order sliding mode control applied to a heavyweight torpedo," Proceedings of 2005 IEEE Conference on Control Applications, pp. 61-66, 2005.
8. A. Healey and D. Lienard, "Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles," IEEE Journal of Oceanic Engineering, vol. 18, no. 3, pp. 327-339, 1993.
9. A. Levant, "Higher-order sliding modes, differentiation and output-feedback control," International Journal of Control, vol. 76, no. 76, pp. 924-941, 2003.
10. D. Galzi and Y. Shtessel, "UAV formations control using high order sliding modes," Proceeding of the 2006 American Control Conference, pp. 4249-4254, 2006.
11. T. Salgado-Jimenez and B. Jouvencel, "Using a high order sliding modes for diving control a torpedo autonomous underwater vehicle," Proceedings in OCEANS, vol. 2, pp. 22-26, 2003.
12. A. Levant and L. Alelishvili, "Universal SISO sliding-mode controllers with finite-time convergence," IEEE Transactions on Automatic Control, 2001.
13. D. Stansbery and J. Cloutier, "Position and attitude control of a spacecraft using the state-dependent riccati equation technique," Proceedings of the 2000 American Control Conference, vol. 3, 2000.
14. A. Bogdanov, E. Wan, and G. Harvey, "SDRE flight control for X-Cell and R-Max autonomous helicopters," 43rd IEEE Conference on Decision and Control, vol. 2, pp. 1196-1203, 2004.
15. W. Ren and R. W. Beard, "Constrained nonlinear tracking control for small fixed-wing unmanned air vehicles," American Control Conference, pp. 4663-4668, 2004.
16. N. Kato and M. Endo, "Guidance and control of unmanned, untethered submersible for rendezvous and docking with underwater station," Proceedings OCEANS '89, vol. 3, pp. 804-809, 1989.
17. J. Evans, K. Keller, J. Smith, P. Marty, and O. Rigaud, "Docking techniques and evaluation trials of the swimmer auv: an autonomous deployment auv for work-class rovs," MTS/IEEE Oceans Conference Proceedings on An Ocean Odyssey, vol. 1, pp. 520-528, 2001.
18. M. Feezor, F. Sorrell, P. Blankinship, and J. Bellingham, "Autonomous underwater vehicle homing/docking via electromagnetic guidance," MTS/IEEE Conference Proceedings on Oceans, vol. 26, no. 4, pp. 547-555, 1997.
19. R. Moller, "Insect visual homing strategies in a robot with analog processing," Biological Cybernetics, pp. 231-243, 2000.
20. R. Wei, R. Mahony, and D. Austin, "A bearing-only control law for stable docking of unicycles," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp. 27-31, 2003.
21. D. Lambrinos, R. Moller, T. Labhart, R. Pfeifer, and R. Wehner, "A mobile robot employing insect strategies for navigation," Robotics and Autonomous Systems, pp. 39-64, 2000.
22. O. Khatib, "Real-time obstacle avoidance for robot manipulator and mobile robots," The International Journal of Robotics Research, pp. 90-98, 1986.