Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1995.04b
- /
- Pages.330-335
- /
- 1995
- /
- 2005-8446(pISSN)
수중운동의 표적추적성능 해석과 제어기 설계
Abstract
The actuator's response delay, disturbance and measurement noise can often cause a significant error in the target tracking of an underwater vehicle. The first purpose of this paper is error analysis about motion of an underwater vehicle when the closed loop system has actuator and disturbance and noise. The underwater vehicle is simulated for cases of various disturbances. The second purpose is robust controller design for the underwater vehicle with parameter uncertainty. So, two robust control methods are applied for the underwater vehicle. One is standard
Keywords