Abstract
A high performance guidance law can help Autonomous Underwater Vehicle (AUV) to catch target faster and with less energy. The equations of relative motion between AUV and target are built firstly. Then the optimal control theory is used, and a new AUV nonlinear optimal guidance law is obtained by considering of minimum energy controls in the course of pursuit. Simulation is taken on to verify the performance of the optimal guidance law. And the results show that comparing with the H∞ guidance law, the optimal guidance law can help AUV overtake target in less time, and the azimuth angle of target line of sight is always staying at the initial numerical values. Furthermore, the normal load doesn’t increase along with the decrease of distance between AUV and target. So the optimal guidance law is effective for AUV.
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