A Study of Autonomous Docking with an AUV Using Intelligent Controls
نویسندگان
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.
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