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초록
In this paper, we developed a Manta-type AUV (Autonomous Underwater Vehicle) and analyzed its control performance as well as its dynamic characteristics underwater. The nonlinear motion of equations, which are expressed in terms of hydrodynamic coefficients obtained by various experiments, are used to simulate the motion of a Manta AUV underwater. We applied the sliding-mode theory to control the heading angle and depth of the vehicle, and confirmed the effectiveness of the control algorithm through simulations and sea-trials.
키워드
Depth control; Heading angle control; Manta AUV; Motion control; AUV (autonomous underwater vehicle); Control performance; Depth control; Dynamic characteristics; Heading angles; Hydrodynamic coefficients; Manta AUV; Non-linear motions; Algorithms; Equations of motion; Motion control; Nonlinear equations; Sailing vessels; Autonomous underwater vehicles
- 제목
- 만타형 자율무인잠수정의 운동성능 및 운동제어에 대한 실해역실험
- 제목 (타언어)
- Field experiments for dynamic characteristics and motion control of a manta-type autonomous underwater vehicle
- 저자
- Kim, Dong Hee; Park, Jong Hyeon; Kim, Joon Young; Choi, Hyeung Sik; Ahn, Jin Hyeong
- 발행일
- 2013-09
- 유형
- Article
- 저널명
- 제어.로봇.시스템학회 논문지
- 권
- 19
- 호
- 9
- 페이지
- 760 ~ 767