A 2d Sensor Based Control Law for Homing of Auvs in the Horizontal Plane
نویسندگان
چکیده
A new sensor based homing integrated guidance and control law is presented to drive an underactuated autonomous underwater vehicle (AUV) towards a fixed target, in the horizontal plane, using the information provided by an Ultra-Short Base Line (USBL) positioning system. Almost global asymptotic stability (AGAS) is achieved, both in the absence of external disturbances and in the presence of constant known ocean currents. Simulations are presented to illustrate the performance and behavior of the overall closed loop system.
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