Modified linear terminal guidance for docking and a time-varying ocean current observer
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, J.-Y. | - |
dc.contributor.author | Jun, B.-H. | - |
dc.contributor.author | Lee, P.-M. | - |
dc.contributor.author | Lim, Y.-K. | - |
dc.contributor.author | Oh, J.-H. | - |
dc.date.accessioned | 2023-12-22T09:01:18Z | - |
dc.date.available | 2023-12-22T09:01:18Z | - |
dc.date.issued | 2011 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8872 | - |
dc.description.abstract | Unidirectional 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.language | 영어 | - |
dc.language.iso | ENG | - |
dc.title | Modified linear terminal guidance for docking and a time-varying ocean current observer | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/UT.2011.5774141 | - |
dc.identifier.scopusid | 2-s2.0-79959316012 | - |
dc.identifier.bibliographicCitation | 2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11 | - |
dc.citation.title | 2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11 | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | AUV (autonomous underwater vehicle) | - |
dc.subject.keywordPlus | Current observer | - |
dc.subject.keywordPlus | External disturbances | - |
dc.subject.keywordPlus | Kinematic equations | - |
dc.subject.keywordPlus | Optimal controls | - |
dc.subject.keywordPlus | Simulation result | - |
dc.subject.keywordPlus | Terminal guidance | - |
dc.subject.keywordPlus | Time varying | - |
dc.subject.keywordPlus | Underactuated | - |
dc.subject.keywordPlus | Autonomous underwater vehicles | - |
dc.subject.keywordPlus | Cables | - |
dc.subject.keywordPlus | Docking | - |
dc.subject.keywordPlus | Observability | - |
dc.subject.keywordPlus | Submarine cables | - |
dc.subject.keywordPlus | Submarines | - |
dc.subject.keywordPlus | Submersibles | - |
dc.subject.keywordPlus | Technology | - |
dc.subject.keywordPlus | Telecommunication equipment | - |
dc.subject.keywordPlus | Telegraph | - |
dc.subject.keywordPlus | Underwater equipment | - |
dc.subject.keywordPlus | Water craft | - |
dc.subject.keywordPlus | Ocean currents | - |
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