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

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    1413849.pdf (379.8Kb)
    Date
    2016
    Author
    Syre Wiig, Martin
    Caharija, Walter
    Krogstad, Thomas Røbekk
    Pettersen, Kristin Ytterstad
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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.
    URI
    http://hdl.handle.net/20.500.12242/585
    https://ffi-publikasjoner.archive.knowledgearc.net/handle/20.500.12242/585
    DOI
    10.1016/j.ifacol.2016.10.499
    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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