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Modified linear terminal guidance for docking and a time-varying ocean current observer

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dc.contributor.authorPark, J.-Y.-
dc.contributor.authorJun, B.-H.-
dc.contributor.authorLee, P.-M.-
dc.contributor.authorLim, Y.-K.-
dc.contributor.authorOh, J.-H.-
dc.date.accessioned2023-12-22T09:01:18Z-
dc.date.available2023-12-22T09:01:18Z-
dc.date.issued2011-
dc.identifier.issn0000-0000-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8872-
dc.description.abstractUnidirectional docking of a torpedo-type underactuated AUV (Autonomous Underwater Vehicle) has been developed. In this paper, guidance scheme considering drift caused by ocean currents will be investigated. To compensate drift, we design an ocean current observer. The observer is based on kinematic equations of the AUV. We also suggest a guidance scheme based on linear terminal guidance using the observer. The LTG (Linear Terminal Guidance) is in the framework of optimal control but there is no compensation against external disturbances. The conventional linear terminal guidance is modified to be adapted to unidirectional docking compensating the effect of ocean currents. Simulation results are also included. ? 2011 IEEE.-
dc.language영어-
dc.language.isoENG-
dc.titleModified linear terminal guidance for docking and a time-varying ocean current observer-
dc.typeArticle-
dc.identifier.doi10.1109/UT.2011.5774141-
dc.identifier.scopusid2-s2.0-79959316012-
dc.identifier.bibliographicCitation2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11-
dc.citation.title2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11-
dc.type.docTypeConference Paper-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.subject.keywordPlusAUV (autonomous underwater vehicle)-
dc.subject.keywordPlusCurrent observer-
dc.subject.keywordPlusExternal disturbances-
dc.subject.keywordPlusKinematic equations-
dc.subject.keywordPlusOptimal controls-
dc.subject.keywordPlusSimulation result-
dc.subject.keywordPlusTerminal guidance-
dc.subject.keywordPlusTime varying-
dc.subject.keywordPlusUnderactuated-
dc.subject.keywordPlusAutonomous underwater vehicles-
dc.subject.keywordPlusCables-
dc.subject.keywordPlusDocking-
dc.subject.keywordPlusObservability-
dc.subject.keywordPlusSubmarine cables-
dc.subject.keywordPlusSubmarines-
dc.subject.keywordPlusSubmersibles-
dc.subject.keywordPlusTechnology-
dc.subject.keywordPlusTelecommunication equipment-
dc.subject.keywordPlusTelegraph-
dc.subject.keywordPlusUnderwater equipment-
dc.subject.keywordPlusWater craft-
dc.subject.keywordPlusOcean currents-
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