Weather optimal dynamic positioning of underactuated AUVs using output feedback control

In this paper we present an output feedback control system for dynamic positioning of underactuated AUVs. The control objective is to maintain a desired distance to the target while orienting the vehicle towards the target at all times. The vehicle’s location on the sphere circumference around the t...

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Bibliographic Details
Main Authors: Refsnes, Jon E Gorset, Sørensen, Asgeir Johan, Pettersen, Kristin Ytterstad
Format: Article
Language:English
Online Access:Request full text
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Summary:In this paper we present an output feedback control system for dynamic positioning of underactuated AUVs. The control objective is to maintain a desired distance to the target while orienting the vehicle towards the target at all times. The vehicle’s location on the sphere circumference around the target can be arbitrary. In fact, this position is determined by current loads acting on the vehicle. Hence, the control scheme presented is a weather-optimal system in the sense that the vehicle automatically will orient itself towards both the target and the current. The complete output feedback system is proven ULAS by Lyapunov theory. Furthermore, by analyzing the inherent dynamics of the controller for the unactuated states, it is shown that the sway and heave velocities converge to a bounded set. A case study on the Minesniper shows satisfactory performance in relatively harsh current conditions.