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A sliding mode heading control system is developed for overactuated, hover‐capable autonomous underwater vehicles (AUVs) operating over a range of forward speeds. A simplified switching function is introduced, and simulation studies are proposed accordingly. The results with this novel switching function show a significant improvement in the chattering problem when compared to other conventional switching...
A PI-D based control system is developed for over-actuated, hover-capable AUVs which enables a smooth transition from hover-style to flight-style operation with system stability and convergence proven using a Lyapunov approach. The performance of the controller is demonstrated by simulation and is verified through experiments. The approach is able to operate over a range of vehicle ballasting configurations,...
For an AUV to perform a long-range mission with its maximum endurance, its energy consumption during transit must be kept to a minimum. This paper presents an improved cost function for a grid-based genetic algorithm (GA) path planning in 2D static environments. The proposed function consists of energy consumption terms that are estimated according to dynamics of a hover-capable AUV — notably Delphin2...
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