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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on an Integral State Feedback Controller for Way-point Tracking of an AUV

무인잠수정의 적분 상태 궤환 제어기 설계 및 경유점 추적 연구

  • Bae, Seol B. (Dept. Information and Communications Engineering, Pukyong National University) ;
  • Shin, Dong H. (Dept. Information and Communications Engineering, Pukyong National University) ;
  • Park, Sang H. (Dept. Electronics Engineering, Pukyong National University) ;
  • Joo, Moon G. (Dept. Information and Communications Engineering, Pukyong National University)
  • 배설봉 (부경대학교 정보통신공학과) ;
  • 신동협 (부경대학교 정보통신공학과) ;
  • 박상홍 (부경대학교 전자공학과) ;
  • 주문갑 (부경대학교 정보통신공학과)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.08.01
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Abstract

A state feedback controller with integration of output error is proposed for way-point tracking of an AUV (Autonomous Underwater Vehicle). For the steering control on the XY plane, the proposed controller uses three state variables (sway velocity, yaw rate, heading angle) and the integral of the steering error, and for the depth control on the XZ plane, it uses four state variables (pitch rate, depth, pitch angle) and the integral of the depth error. From the simulation using Matlab/Simulink, we verify that the performance of the proposed controller is satisfactory within an error range of 1m from the target way-point for arbitrarily chosen sets of consecutive way-points.

Keywords

Acknowledgement

Supported by : 부경대학교

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