Abstract

An unmanned underwater vehicle, UUV, has been widely utilized in various areas for commercial, research, or military purposes replacing human beings and reducing the risk of deadly consequences. In order to avoid damage or loss of the vehicle, UUV should stay on the desired path even under ocean current and measurement noise disturbance. In this paper, path following control using nonlinear guidance and sliding mode control is suggested for UUV in horizontal plane. The efficiency of the proposed path following control method is shown through simulation with consideration of ocean current and measurement noise disturbances.

Introduction

There has been growing interest in Unmanned Underwater Vehicle (UUV) utilization in Navy, private industry and research group due to its possibility to replace human for dangerous or inaccessible place.

UUV operation process consists of significantly two parts, path planning and path following stages. The desired path is established in advance at the path planning stage, and UUV follows its desired path at path following stage. Since desired path of UUV is usually designed by considering estimated ocean current field, location of obstacles or geographical features of operation region, high path following performance is required in order to avoid damage or loss of the vehicle. Among the disturbances that lower the path following performance of UUV, ocean current and measurement noise are significant factors due to vehicle's harsh operation environment. UUV operating underwater is almost always under the influence of ocean current. In addition, measurement data for autonomous operation, such as velocity and position of UUV, have some noises. Therefore, path following system which has robustness for ocean current and measurement noise disturbances is required.

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