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

The Society of Naval Architects of Korea (대한조선학회)
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Depth Control of a Submerged Body Near the Free Surface by LQR Control Method

LQR 제어 기법을 적용한 수면 근처에서의 수중운동체 심도 제어

  • Kim, Dong-Jin (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Rhee, Key-Pyo (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Choi, Jin-Woo (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Lee, Sung-Kyun (Department of Naval Architecture and Ocean Engineering, Seoul National University)
  • 김동진 (서울대학교 조선해양공학과) ;
  • 이기표 (서울대학교 조선해양공학과) ;
  • 최진우 (서울대학교 조선해양공학과) ;
  • 이성균 (서울대학교 조선해양공학과)
  • Published : 2009.08.20
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Abstract

The submerged body near the free surface is disturbed by the 1st and 2nd order wave forces, which results in unstable movements when no control is applied. In this paper, the vertical motions of the submerged body are analyzed, and the time-variant nonlinear system for the vertical motions of the submerged body is transformed to the time-invariant linear system in state space. Next, depth controller of the submerged body is designed by using LQR control, one of the modern optimal control technique. Numerical simulation shows that effective depth controls can be achieved by LQR control.

Keywords

References

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Cited by

  1. An LQR Controller for Autonomous Underwater Vehicle vol.20, pp.2, 2014, https://doi.org/10.5302/J.ICROS.2014.13.9005
  2. Depth Controller Design for Submerged Body Moving near Free Surface Based on Adaptive Control vol.29, pp.3, 2015, https://doi.org/10.5574/KSOE.2015.29.3.270