The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Depth and Speed Control of Large Diameter Unmanned Underwater Vehicles

대형급 무인잠수정의 심도 및 속도 제어

  • Received : 2017.01.12
  • Accepted : 2017.01.26
  • Published : 2017.03.01
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Abstract

This paper deals with the depth and speed controls of a class of nonlinear large diameter unmanned underwater vehicles (LDUUVs), while maintaining its attitude. The concerned control problem can be viewed as an asymptotic stabilization of the error model in terms of its desired depth, surge speed and attitude. To tackle its nonlinearities, the linear parameter varying (LPV) model is employed. Sufficient linear matrix inequality (LMI) conditions are provided for its asymptotic stabilization. A numerical simulation is provided to demonstrate the effectiveness of the proposed design methodology.

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References

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