Guidance Laws for Autonomous Underwater Vehicles

Breivik, Morten; Fossen, Thor I.

doi:10.5772/6696

Cited by 97 publications

(84 citation statements)

References 52 publications

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“…2 LOS proportional guidance law Equation (13) is similar to the formulae used by Healey and Lienard (1993), Pettersen and Lefeber (2001), Børhaug and Pettersen (2005), Breivik and Fossen (2005), Fredriksen and Pettersen (2006), and Breivik and Fossen (2009). The proportional LOS guidance law for (15) is chosen as:…”

Section: Kinematic Equationsmentioning

confidence: 99%

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Fossen¹,

Pettersen²

2014

Automatica

231

105

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This paper presents a uniform semiglobal exponential stability (USGES) proof for a class of proportional line-of-sight (LOS) guidance laws used for vehicle path-following control. The LOS guidance law under consideration is a lookahead-based guidance law for marine craft. The USGES proof extends previous results that only guarantee global κ-exponential stability. Typical applications are marine craft and aircraft motion control systems for path following where the total system is a cascade of the motion controller and guidance law error dynamics.

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Section: Kinematic Equationsmentioning

confidence: 99%

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Fossen¹,

Pettersen²

2014

Automatica

231

105

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“…The LOS guidance look ahead approach in Breivik and Fossen (2011) exploits the specified waypoints and the current positions in the earth fixed-frame in order to generate a reference ψ r . Afterwards, a low pass filter (LP) is used as a linear reference model for trajectory generation, defined as follows:…”

Section: Heading Controllermentioning

confidence: 99%

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

2015

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The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steffen (2005). The paper investigates properties of a centralised versus a decentralised implementation and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own virtual actuator that is able to accommodate both local faults and faults within a collaborating unit. The paper discusses how this is done through exploiting structural information (e.g. thruster configuration) for each participant in the cooperation. A test scenario is presented as a case in which an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation.

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“…It is based on the models found in Fossen (2011) and Sørensen (2013). It is built on the following premisses: i) the ROV is fully actuated in its 4-DoF configuration space (Breivik and Fossen, 2009) -surge, sway, heave, and yaw motions; ii) the remaining DoFs are self-stable by the design of the ROV; iii) the locations of the CG (Centre of Gravity) and the CB (Centre of Buoyancy) are fixed; iv) the ROV operates below the wave-affected zone; v) the velocity and orientation of the sea current vary slowly enough to be taken as constant; and vi) the fluid is irrotational, of constant density, and of infinite extent. Its explicit dependence on time is omitted for the sake of better readability.…”

Section: Control Plant Modelmentioning

confidence: 99%

Trajectory Tracking Motion Control System for Observation Class ROVs

Fernandes

Sørensen

Donha

2013

IFAC Proceedings Volumes

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This paper proposes a MCS (Motion Control System) with trajectory tracking capability for observation class ROVs (Remotely Operated Vehicle) used to carry out automated high-resolution image capturing missions, e.g. inspections, mappings, and surveys. The trajectory tracking capability is a key feature to enable the end users of the ROV technology to acquire sequential high-quality images at proper pace to construct consistent representations of the objects or of the environments of interest. Four degrees-of-freedom are controlled -surge, sway, heave, and yaw. The MCS consists of an output feedback control system that is composed of a high-gain state observer and a MIMO (Multiple-Input-Multiple-Output) PID (ProportionalIntegral-Derivative) controller, that works aided by reference feedforward. Plant linearisation is performed aiming at improving the tracking performance. Stability and satisfactory performance of suitable and smooth reference trajectories are attained despite the presence of unmodelled dynamics, plant parameter variations, measurement noise, and environmental disturbances. Simulated results based on the model of the NTNU's ROV Minerva are presented.

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Guidance Laws for Autonomous Underwater Vehicles

Cited by 97 publications

References 52 publications

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

Trajectory Tracking Motion Control System for Observation Class ROVs

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