Improving Response Performance of Quadrant-detector-navigated Unmanned Underwater Vehicle in Underwater Docking Operations

This paper proposes the use of a gyrostabilizer to improve the response performance of an unmanned underwater vehicle navigated by a quadrant detector (QD) in shallow water docking operations under the influence of ocean disturbances. Reference tracking and disturbance attenuation were investigated with and without delayed response from the gyroscope. The control methodologies examined are combinations of forward Riccati and passive control, forward Riccati and proportional-derivative (PD) control, and forward Riccati and penalty function control. Forward Riccati control is applied to the yaw-pitch dynamics for command tracking, while gyro-dynamics control for disturbance attenuation is achieved using passive, PD, and penalty function controls. Overall, the forward Riccati and penalty function control method showed desired performance because the gyro-precession workspace was maintained within actuation limits while operating within a region of dominant precession spin or control.