This paper presents homing and docking autopilot design for the autonomous underwater vehicle (AUV). A nonlinear interrelated dynamic model of the underwater vehicle is considered. The AUV autopilot is designed on base of a position-trajectory control method. Adaptation of the control system is based on robust disturbances estimation. Modeling and hardware results approved feasibility of the proposed methods.


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    Title :

    Homing and Docking Autopilot Design for Autonomous Underwater Vehicle



    Published in:

    Publication date :

    2014-01-28


    Size :

    8 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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