로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제18권1호
  • /
  • Pages.82-87
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  • 2023
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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모델 불확실성을 갖는 6자유도 원격조종 수중로봇의 외란 관측기 기반 제어

Disturbance Observer-Based Control for 6-DOF Remotely Operated Underwater Vehicle with Model Uncertainties

  • Junsik Kim (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Dongchul Lee (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Youngjin Choi (Department of Electrical and Electronic Engineering, Hanyang University)
  • 투고 : 2022.10.29
  • 심사 : 2022.11.11
  • 발행 : 2023.02.28
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초록

This paper proposes a disturbance observer-based control for 6-DOF remotely operated underwater vehicles with model uncertainties. The sum of external disturbance and the forces generated from model parameters except for the inertial matrix of the hydrodynamic model is defined as a lumped disturbance in this paper. Then, the lumped disturbance caused by model uncertainties and the external forces is estimated using the disturbance observer. Fortunately, the disturbance observer is constructed as a linear form because all the elements of the inertial matrix of the hydrodynamic model are constants. To verify the proposed control scheme, we show that the actual lumped disturbance is similar to the estimated lumped disturbance obtained by the disturbance observer. Finally, the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

키워드

과제정보

This work was supported in part by the Technology Innovation Program funded by the Korea Ministry of Trade, industry and Energy, (20017345), and in part by Institute of Information & Communications Technology Planning & Evaluation (IITP) grant funded by the Korea government (MSIT) (No.RS-2022-00155885, Artificial Intelligence Convergence Innovation Human Resources Development (Hanyang University ERICA)), Republic of Korea

참고문헌

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