The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Linear Model Predictive Control of 6-DOF Remotely Operated Underwater Vehicle Using Nonlinear Robust Internal-loop Compensator

비선형 강인 내부루프 보상기를 이용한 6자유도 원격조종 수중로봇의 선형 모델예측 제어

  • Junsik Kim (Department of Electrical and Electrical and Electronic Engineering, Hanyang University) ;
  • Yuna Choi (Department of Electrical and 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)
  • Received : 2023.09.19
  • Accepted : 2023.11.23
  • Published : 2024.02.29
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Abstract

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

Keywords

Acknowledgement

This work was supported in part by the Institute of Civil Military Technology Cooperation funded by the Defense Acquisition Program Administration and Ministry of Trade, Industry and Energy of Korean government under grant No. UM22318RD3, Republic of Korea

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