한국마린엔지니어링학회:학술대회논문집 (Proceedings of the Korean Society of Marine Engineers Conference)
- 한국마린엔지니어링학회 2005년도 후기학술대회논문집
- /
- Pages.216-217
- /
- 2005
수중운동체의 자율운항을 위한 수학모델 확립과 최적운항 제어기법
Mathematical Model Identification and Optimal Navigation Control for Automatic Navigation of Underwater Vehicle
- 발행 : 2005.11.01
초록
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.
키워드