Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy

Author
Syre Wiig, Martin
Caharija, Walter
Krogstad, Thomas Røbekk
Pettersen, Kristin Ytterstad
Date Issued
2016
Keywords
AUV
Kybernetikk
Ubemannede systemer
Undervannsrobotikk
Permalink
http://hdl.handle.net/20.500.12242/585
https://publications.ffi.no/123456789/585
DOI
10.1016/j.ifacol.2016.10.499
Collection
Articles
Description
Syre Wiig, Martin; Caharija, Walter; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad. Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy. IFAC-PapersOnLine 2016 ;Volum 49.(23) s. 590-597
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Abstract
This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom using physical principles, and it is taken into account that the vehicle is not necessarily neutrally buoyant. The closed-loop dynamics of the cross-track error are analyzed using nonlinear cascaded systems theory, and are shown to achieve uniform semiglobal exponential stability. Hence, the integral line-of-sight guidance law compensates for the lack of neutral buoyancy, and it is no longer necessary to assume that the vehicle is perfectly ballasted. The exponential convergence properties of the guidance law are demonstrated in simulations of an autonomous underwater vehicle.
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