TY - GEN
T1 - Dipolar field based 3-dimensional homing guidance algorithm for autonomous underwater vehicles
AU - Li, Yong
AU - Yan, Weisheng
AU - Gao, Jian
AU - Qi, Beibei
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - In this paper, a dipolar field-based 3-dimensional homing guidance method is presented to solve the intelligent docking problem of an autonomous underwater vehicle (AUV). The AUV obtains its coordinates in the global coordinate frame by using the measured locations of transponders fixed in the dock station. The desired yaw and pitch angles based on the dipolar field are calculated to guide the AUV to the dock station along the direction of the entrance central axis. The adaptive non-singular terminal sliding mode control is employed for the yaw control and the pitch control, which ensures the robustness and adaptability in the presence of the control system uncertainties. Simulation results are provided to validate the effectiveness of the proposed homing guidance strategy.
AB - In this paper, a dipolar field-based 3-dimensional homing guidance method is presented to solve the intelligent docking problem of an autonomous underwater vehicle (AUV). The AUV obtains its coordinates in the global coordinate frame by using the measured locations of transponders fixed in the dock station. The desired yaw and pitch angles based on the dipolar field are calculated to guide the AUV to the dock station along the direction of the entrance central axis. The adaptive non-singular terminal sliding mode control is employed for the yaw control and the pitch control, which ensures the robustness and adaptability in the presence of the control system uncertainties. Simulation results are provided to validate the effectiveness of the proposed homing guidance strategy.
UR - http://www.scopus.com/inward/record.url?scp=85015162950&partnerID=8YFLogxK
U2 - 10.1109/CGNCC.2016.7828946
DO - 10.1109/CGNCC.2016.7828946
M3 - 会议稿件
AN - SCOPUS:85015162950
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 1126
EP - 1131
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -