A Study on Way-Point Tracking of AUV using State Feedback

상태 궤환을 사용한 AUV의 경우점 추적 연구

  • 권순태 (부경대학교 정보통신공학과) ;
  • 백운경 (부경대학교 기계자동차공학과) ;
  • 강인필 (부경대학교 기계자동차공학과) ;
  • 최형식 (한양해양대학교 기계에너지시스템공학부) ;
  • 주문갑 (부경대학교 정보통신공학과)
  • Received : 2011.03.30
  • Accepted : 2011.10.13
  • Published : 2011.12.01


For way-point tracking of an autonomous underwater vehicle, a state feedback controller was designed by using pole placement scheme in discrete time domain. In the controller, 4 state variables were used for regulating the depth of the vehicle in z direction, and 3 state variables, for steering the vehicle in xy plane. Assuming constant speed of AUV, we simplified the design of the way-point tracking system. The proposed controller was simulated by MATLAB/Simulink using 6 degree-of-freedom nonlinear model and its performance of way point tracking was shown to be fulfilled within 1 m, nevertheless the proposed controller is quite simple and easy to implement compared to sliding mode controller.



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