외란과 시간 지연에 의한 수중 운동체의 오차 해석

Error analysis of underwater vehicle under influence of disturbance and time delay

The disturbance and time delay can often cause a significant error in the estimation of trajectory of a underwater vehicle. The time delay considered in this study is due to the delayed rudder response to the rudder input from the guidance control part. The simulation tests are performed on maneuver with constant rudder angle, zigzag maneuver, dive-climb maneuver, and corridor pattern maneuver. The results are compared with those of without delay cases.