제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제17권12호
  • /
  • Pages.1266-1272
  • /
  • 2011
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

상태 궤환을 사용한 AUV의 경우점 추적 연구

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

  • 권순태 (부경대학교 정보통신공학과) ;
  • 백운경 (부경대학교 기계자동차공학과) ;
  • 강인필 (부경대학교 기계자동차공학과) ;
  • 최형식 (한양해양대학교 기계에너지시스템공학부) ;
  • 주문갑 (부경대학교 정보통신공학과)
  • 투고 : 2011.03.30
  • 심사 : 2011.10.13
  • 발행 : 2011.12.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

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.

키워드

참고문헌

  1. J. Woo and M. D. Ageev, "Development and preliminary sea trial of OKPO-6000 AUV," Proc. the 2nd Symposium Ocean Mining, pp. 24-26, Nov. 1997.
  2. T. Prestero, "Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle," M. S. thesis, MIT/WHOI, 2001.
  3. E. Desa, R. Madhan, and P. maurya, et al, "The small MAYA AUV: Initial field results," Underwater World Publications, pp. 1-9, 2007.
  4. E. Y. Hong, H. G. Soon, and M. Chitre, "Depth control of an autonomous underwater vehicle, STARFISH," OCEANS 2010 IEEE-Sydney, pp. 1-6, May 2010.
  5. J. Y. Park, B. H. Jun, P. M. Lee, and J. Oh, "Development of test-bed AUV 'ISiMI' and underwater experiments on free running and vision guided docking," Underwater vehicles, pp. 371-398, Dec. 2009.
  6. B. H. Jun, J. Y. Park, F. Y. Lee, P. M. Lee, C. M. Lee, K. Kim, Y. K. Lim, and J. H. Oh, "Development of the AUV 'ISiMI' and a fee running test in an ocean engineering basin," Ocean Engineering, vol. 36, no. 1, pp. 2-14, Jan. 2009. https://doi.org/10.1016/j.oceaneng.2008.07.009
  7. J. H. Li, P. M. Lee, and B. H. Jun, "A neural network adaptive controller for autonomous diving control of an autonomous underwater vehicle," International Journal of Control, Automation, and Systems, vol. 2, no. 3, pp. 374-383, 2004.
  8. C. H. Hong, K. C. Choi, and B. S. Kim, "Autopilot design of an autonomous underwater vehicle using robust control," Transaction on Control, Automation and Systems Engineering, vol. 4, no. 4, pp. 264-269, 2002.
  9. T. I. Fossen, Guidance and Control of Ocean Vehicle, Jone Wiley & Sons, New York, 1994.
  10. K. M. Fauske, F. Gustafsson, and O. Hegrenaes, "Estimation of AUV dynamics for sensor fusion," Proc. of the 10th Conf. Information Fusion, pp. 1-6, July 2007.

피인용 문헌

  1. A Study on an Integral State Feedback Controller for Way-point Tracking of an AUV vol.19, pp.8, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9011
  2. Field Experiments for Dynamic Characteristics and Motion Control of a Manta-type Autonomous Underwater Vehicle vol.19, pp.9, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9020
  3. Decoupled Controller Design of an Autonomous Underwater Vehicle and Performance Test Results vol.19, pp.9, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9021
  4. An LQR Controller for Autonomous Underwater Vehicle vol.20, pp.2, 2014, https://doi.org/10.5302/J.ICROS.2014.13.9005