Study on a New Nonlinear H Guidance Law for Autonomous Underwater Vehicle

Abstract:

Article Preview

The key for Autonomous Underwater Vehicle (AUV) to implement target pursuit is to design high performance guidance law. The globose reference frame is adopted, and equations for 3-D relative motion between AUV and the target are built. Then the H theory is used, and a new AUV nonlinear H guidance law is obtained by solving Hamilton-Jacobi inequation. Simulation is taken on to verify the performance of H guidance law. And the results show that the H guidance law can help AUV overtake the target in less time, and the azimuth and pitching angle of the target line of sight are always staying at the initial numerical values. Furthermore, the normal load decreases to zero gradually. So the guidance law is effective for AUV to pursuit target.

Info:

Periodical:

Advanced Materials Research (Volumes 219-220)

Edited by:

Helen Zhang, Gang Shen and David Jin

Pages:

362-365

DOI:

10.4028/www.scientific.net/AMR.219-220.362

Citation:

H. Ding et al., "Study on a New Nonlinear H Guidance Law for Autonomous Underwater Vehicle", Advanced Materials Research, Vols. 219-220, pp. 362-365, 2011

Online since:

March 2011

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.