A Study of Autonomous Docking with an AUV Using Intelligent Controls

نویسندگان

  • Pakpong Jantapremjit
  • Philip A. Wilson
  • Alan J. Murphy
چکیده

Autonomous docking using underwater vehicles will play an important role in long-term underwater explorations and surveys. The autonomous docking mission for an autonomous underwater vehicle at a stationary platform involves a vehicle and a platform matching both position, orientation and velocity. The docking missions therefore require intelligent control systems for precise and soft operations. A study of the sliding mode control and the fuzzy logic controller is proposed which provides stability and robustness which bounds uncertainty and external disturbances such as ocean currents. A proposed fuzz logic based sliding mode controller can improve control performances in docking operations. Furthermore, the optimisation of the controllers using genetic algorithms determines best candidate fuzzy sets to minimise docking time and energy consumption.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Autonomous Underwater Vehicle Hull Geometry Optimization Using a Multi-objective Algorithm Approach

Abstarct In this paper, a new approach to optimize an Autonomous Underwater Vehicle (AUV) hull geometry is presented. Using this methode, the nose and tail of an underwater vehicle are designed, such that their length constraints due to the arrangement of different components in the AUV body are properly addressed. In the current study, an optimal design for the body profile of a torpedo-shaped...

متن کامل

Hybrid Adaptive Neural Network AUV controller design with Sliding Mode Robust Term

This work addresses an autonomous underwater vehicle (AUV) for applying nonlinear control which is capable of disturbance rejection via intelligent estimation of uncertainties. Adaptive radial basis function neural network (RBF NN) controller is proposed to approximate unknown nonlinear dynamics. The problem of designing an adaptive RBF NN controller was augmented with sliding mode robust term ...

متن کامل

Identification of an Autonomous Underwater Vehicle Dynamic Using Extended Kalman Filter with ARMA Noise Model

In the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. Since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. In this study, hydrodynamic coefficients of an autonomous un...

متن کامل

A Vision Based Target Detection System for Docking of an Autonomous Underwater Vehicle

This paper describes the development and preliminary experimental evaluation of a visionbased docking system to allow an Autonomous Underwater Vehicle (AUV) to identify and attach itself to a set of uniquely identifiable targets. These targets, docking poles, are detected using Haar rectangular features and rotation of integral images. A non-holonomic controller allows the Starbug AUV to orient...

متن کامل

Intelligent Auto pilot Design for a Nonlinear Model of an Autonomous Helicopter by Adaptive Emotional Approach

There is a growing interest in the modeling and control of model helicopters using nonlinear dynamic models and nonlinear control. Application of a new intelligent control approach called Brain Emotional Learning Based Intelligent Controller (BELBIC) to design autopilot for an autonomous helicopter is addressed in this paper. This controller is applied to a nonlinear model of a helicopter. This...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2006