Continuous–Discrete Observation-Based Robust Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

Tijjani, Auwal Shehu; Chemori, Ahmed; Ali, Sofiane Ahmed; Creuze, Vincent

doi:10.1109/tcst.2022.3224321

Cited by 6 publications

(1 citation statement)

References 36 publications

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“…A torpedo can be considered a fast autonomous underwater vehicle (AUV) heading towards the target ship. Therefore, control of an AUV [6][7][8][9][10] can be applied to the control of a torpedo.…”

Section: Introductionmentioning

confidence: 99%

Wake-Responsive AUV Guidance Assisted by Passive Sonar Measurements

Kim

2024

JMSE

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To make an Autonomous Underwater Vehicle (AUV) chase a moving target ship that generates wake, wake-responsive guidance can be used. This scenario is applicable to making an underwater torpedo pursue a moving target ship until hitting the target. The objective of our research is to make an AUV pursue a target ship assisted by passive sonar sensors as well as wake sensors. To track a maneuvering target without losing the target, the AUV applies both passive sonar sensors and two wake sensors. Two wake sensors are utilized to decide the turn direction of the AUV in zig-zag maneuvers. In practice, sharp maneuvers of the target can cause the AUV to exit the target’s wake abruptly. As the target ship’s wake is not detected by wake sensors and the AUV needs to search for the target ship, the AUV’s passive sonar measures the direction of sound generated from the target ship. Thereafter, the AUV chases the target ship until the target’s wake is detected again. As far as we know, our paper is novel in addressing wake-responsive AUV guidance assisted by passive sonar sensors. The effectiveness of the proposed guidance is verified using computer simulations.

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