Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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A Study on an Input-Output Controller Based on the Time-Scale Properties of an Underwater Vehicle Dynamics

수중 운동체의 운동 특성을 고려한 입/출력 제어기 구성에 관한 고찰

  • Jo, Gyung-Nam (Marine Technology Education and Research Center, Seoul National University) ;
  • Seo, Dong-C. (Department of Naval Architecture & Ocean Engineering, Seoul National University) ;
  • Choi, Hang-S. (Research Institute of Marine Systems Engineering, Seoul National University)
  • 조경남 (서울대학교 BK21 해양기술인력양성사업단) ;
  • 서동철 (서울대학교 조선해양공학과) ;
  • 최항순 (서울대학교 해양시스템 공학연구소)
  • Published : 2008.10.31
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Abstract

In this paper, it is shown that an input-output (I/O) feedback linearized controller can be designed rationally by utilizing the time-scale properties of heave and pitch for an underwater vehicle. It is assumed that the dynamics of the vehicle is restricted to the vertical plane. An output-feedback control is designed, which stabilizes steady cruising paths. It is shown that the vehicle dynamics with acceleration as output becomes minimum phase. The dynamics can be transformed into a reduced system through a kind of partial linearization and singular perturbation technique. The reduced system is not only minimum phase but also exactly I/O linearizable via feedback. The I/O dynamic characteristics of the heave and pitch modes can be made linear and decoupled. Furthermore it becomes independent of cruising condition such as vehicle velocity. This study may help for designing autopilot systems for underwater vehicles.

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References

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