Velocity field control assistance for autonomous underwater vehicle path control
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Publication Details
Author list: Suasan T., Saimek S.
Publication year: 2015
Journal: Journal of Mechanical and Mechanics Engineering (2227-2771)
Volume number: 15
Issue number: 6
Start page: 26
End page: 36
Number of pages: 11
ISSN: 2227-2771
Languages: English-Great Britain (EN-GB)
Abstract
To minimize the cost of inspecting the surface of a small battle ship, autonomous underwater vehicles (AUVs) can be used. However, it is extremely difficult to achieve both time and path tracking of an AUV for inspection. A robustness property of the velocity field control (VFC) is required to control an AUV while operating in an environment. The objective of this paper is to apply VFC-assisted linear quadratic regulation (LQR) for path trajectory to track an AUV while on a surveying mission. The results of the simulation and implementation were performed for circular path tracking. ฉ December 2015 IJENS.
Keywords
Autonomous underwater vehicle, AUV, LQR, Reduced-order state estimator, Velocity field control, VFC
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