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Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle

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Figure

Fig. 1.Control Effort for Heading Subsystem (a) with Disturbanceand for Depth Subsystem (b) with Disturbance.
Fig. 2.Comparison of Heading Control with Disturbance using SMC, HOSMC and SDRE-HOSMC techniques.
Fig. 8 shows simulation of trajectory following employing theconstant and the switching weight set.
Fig. 7.Trajectory planning using switching weight set giving asmooth trajectory. The first weight set (0.8 , 0.8, 0.5) is used for aconverge trajectory to a centre valley far from the sensor nodes

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