# 만타형 자율무인잠수정의 운동성능 및 운동제어에 대한 실해역실험

• Kim, Dong Hee (Department of Mechanical Engineering, Hanyang University) ;
• Park, Jong Hyeon (School of Mechanical Engineering, Hanyang University) ;
• Kim, Joon Young (Division of Marine Equipment Engineering, Korea Maritime University) ;
• Choi, Hyeung Sik (Division of Mechanical and Energy Systems Engineering, Korea Maritime University) ;
• Ahn, Jin Hyeong (Agency for Defense Development)
• 김동희 (한양대학교 기계공학과) ;
• 박종현 (한양대학교 기계공학부) ;
• 김준영 (한국해양대학교 조선기자재공학부) ;
• 최형식 (한국해양대학교 기계에너지시스템공학부) ;
• 안진형 (국방과학연구소)
• Accepted : 2013.06.30
• Published : 2013.09.01

#### Abstract

In this paper, we developed a Manta-type AUV (Autonomous Underwater Vehicle) and analyzed its control performance as well as its dynamic characteristics underwater. The nonlinear motion of equations, which are expressed in terms of hydrodynamic coefficients obtained by various experiments, are used to simulate the motion of a Manta AUV underwater. We applied the sliding-mode theory to control the heading angle and depth of the vehicle, and confirmed the effectiveness of the control algorithm through simulations and sea-trials.

#### Acknowledgement

Supported by : 한국해양대학교

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