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A new docking method for autonomous underwater vehicle using adaptive integral terminal sliding mode control

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Abstract

Autonomous underwater vehicle (AUV) obtains important advantages regarding not requiring tether cables. However, it has limited energy because of the limited mass and volume. This paper presents a new docking method for AUV in order to improve the operating time by charging its batteries while the AUV is sliding into the dock. Firstly, a curve that connects the current position with the docking station’s location is created by applying Bezier interpolation. Moreover, the curve is then to be found using particle swarm optimization algorithm, to archive the optimal path with the shortest length and satisfies to the maneuverability of AUV. Considering the trajectory tracking problem for AUV, a speed assignment is chosen to translate this parametric curve to a time-dependent trajectory. Then, a three-dimensional trajectory tracking control will be designed using the novel hybrid Lyapunov direct method and the adaptive integral terminal sliding mode control. The stability of the whole system is proved by the Lyapunov theorem. Eventually, the numerical simulation is implemented to demonstrate the effectiveness and the feasibility of the proposed method.

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Acknowledgements

We acknowledge Ho Chi Minh City University of Technology (HCMUT), VNU-HCM, for supporting this study.

Funding

This paper is fully supported by Ho Chi Minh City University of Technology (HCMUT), VNU-HCM.

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Authors and Affiliations

  1. Faculty of Electrical-Electronics Engineering (FEEE), Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City, Vietnam

    Ngo An Thuyen & Ho Pham Huy Anh

  2. Vietnam National University Ho Chi Minh City (VNU-HCM), Linh Trung Ward, Thu Duc District, Ho Chi Minh City, Vietnam

    Ngo An Thuyen & Ho Pham Huy Anh

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  1. Ngo An Thuyen
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  2. Ho Pham Huy Anh
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Correspondence to Ho Pham Huy Anh.

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Thuyen, N.A., Anh, H.P.H. A new docking method for autonomous underwater vehicle using adaptive integral terminal sliding mode control. Int. J. Dynam. Control 11, 2354–2367 (2023). https://doi.org/10.1007/s40435-023-01124-6

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  • DOI: https://doi.org/10.1007/s40435-023-01124-6

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