Mathematical Model Identification and Optimal Navigation Control for Automatic Navigation of Underwater Vehicle

수중운동체의 자율운항을 위한 수학모델 확립과 최적운항 제어기법

This paper presents an integrated navagation control concept for underwater vehicles under high speed navigation circumstance. First of all, in order to control an underwater vehicle with respect to automatic navigation, an integrated navigation control method is suggested in view of synchronous control for course keeping, diving and depth control. An exact nonlinear model equation with six-degree-of-freedom is derived for control algorithm. To identify various hydrodynamic coefficients of the equation, an experimental approach is introduced and results are demonstrated for MANTA type model.