Guidance and Control of Unmanned, Untethered Submersible for Rendezvous and Docking with Underwater Station

Kato, Nobuo; Endo, Mai

doi:10.1109/oceans.1989.586685

Cited by 9 publications

(4 citation statements)

References 1 publication

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“…In this section, a literature review for a docking task in the marine vehicle is explored. Kato and Endo [16] have presented a concept of docking guidance and control for unmanned submersibles at stationary platform by using fuzzy algorithms. Two steps are: coarse guidance based on fuzzy algorithms provides prearrangement of the vehicle to docking target and precise guidance based on sonar and transponders give a precise distance and target position and orientation.…”

Section: A Reviewmentioning

confidence: 99%

Optimal Control and Guidance for Homing and Docking Tasks using an Autonomous Underwater Vehicle

Jantapremjit

Wilson

2007

2007 International Conference on Mechatronics and Automation

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Abstract-This paper presents the results of a control and guidance strategy for homing and docking tasks using an autonomous underwater vehicle. An optimal high-order sliding mode control via state-dependent Riccati equation approach is introduced providing a robustness of motion control including elimination of chattering effect for decoupled systems of an AUV. Motion planning for a docking is introduced. The average vector field based on an artificial potential field method gives a desired trajectory using existing information from ocean network sensors. It provides a guidance for an AUV to follow the path to a required position with final desired orientation. A Line-of-Sight method is used for an AUV to follow the predefined path. In order to improve a docking manoeuver, a switched weight technique is proposed for controlling a vehicle's path and final stage docking.

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Section: A Reviewmentioning

confidence: 99%

Optimal Control and Guidance for Homing and Docking Tasks using an Autonomous Underwater Vehicle

Jantapremjit

Wilson

2007

2007 International Conference on Mechatronics and Automation

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“…Coordinated control of autonomous marine crafts was treated in Encarnacao and Pascoal (2001), while control approaches for marine rendezvous operations was addressed for unmanned underwater vehicles by Kato and Endo (1989) and White et al (1996), and for a robotic fish by Kato (2000); the latter two using fuzzy logic theory. Chen (2003) suggested an increased focus on autopilot design for replenishment operations to reduce the risk of collision.…”

Section: Introductionmentioning

confidence: 99%

Output synchronization control of ship replenishment operations: Theory and experiments

Kyrkjebø

Pettersen

Wondergem

et al. 2007

Control Engineering Practice

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A leader-follower synchronization output feedback control scheme is presented for the ship replenishment problem where only positions are measured. No mathematical model of the leader ship is required, and the control scheme relies on nonlinear observers to estimate velocity and acceleration of all ships to realize the feedback control law. The scheme yields semi-global uniform ultimate boundedness of the closed-loop errors. The bound is a function of the main ship acceleration, and under the assumption of zero main ship acceleration the closed-loop errors are semi-globally exponentially converging. The results are verified through experiments on a model-scale ship. r

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“…The shape of the body is based on the Gertler's Series 58 model 4156 [4,5]. In order to obtain high vertical hydrodynamic performance, the horizontal wing was placed on the forepart of the vehicle [6]. The shape and the position of the wings were determined by theoretical analysis and model tests.…”

Section: Elevator Televisionmentioning

confidence: 99%

“…The tasks consist of (1) communication to and from the mother vessel, (2) analyzing of commands, ( 3 ) data logging, (4) control of the actuators, (5) data handling from sensors, (6) control of other equipment, (7) monitoring of the powe:r source and equipment breakdowns, and (8) control of the above tasks.…”

Section: Electronicsmentioning

confidence: 99%

Development of autonomous underwater vehicle 'AQUA EXPLORER 2' for inspection of underwater cables

Kojima

Kato²,

Asakawa³

et al.

Oceans '97. MTS/IEEE Conference Proceedings

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A new Autonomous Underwater Vehiicle (AUV) named AQUA EXPLORER 2 (AE-2) has been developed. AE-2 can trace buried underwater cables and can measure their burial depth at a low operating cost. It can be Icontrolled through low-bit-rate acoustic link, and can send video signal through another high-bit-rate acoustic link. Compared with its prototype AQUA EXPL,ORER 1000 (AE-1000), performance has been considerably improved due to an overall revamping of the mechanical and electrical design. The continuous operating period is now six tinies llonger for a total of 24 hours at a velocity of one knot, while its dry weight has been reduced by half to 260 kilograms. The first long pool test and the first sea trial were successfully carried out.

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Guidance and Control of Unmanned, Untethered Submersible for Rendezvous and Docking with Underwater Station

Cited by 9 publications

References 1 publication

Optimal Control and Guidance for Homing and Docking Tasks using an Autonomous Underwater Vehicle

Optimal Control and Guidance for Homing and Docking Tasks using an Autonomous Underwater Vehicle

Output synchronization control of ship replenishment operations: Theory and experiments

Development of autonomous underwater vehicle 'AQUA EXPLORER 2' for inspection of underwater cables

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