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http://dx.doi.org/10.3795/KSME-A.2008.32.8.685

Trajectory Control of Underwater Robot using Time Delay Control  

Park, Joon-Young (한전전력연구원 전략기술연구소)
Cho, Byung-Hak (한전전력연구원 전략기술연구소)
Lee, Jae-Kyung (한전전력연구원 전략기술연구소)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.32, no.8, 2008 , pp. 685-692 More about this Journal
Abstract
In this paper, the trajectory control problem of an underwater robot is addressed. From the viewpoint of control engineering, trajectory control of the underwater robot is not an easy task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy forces and hydrodynamic damping, the difference between the centers of buoyancy and gravity, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring the nonlinear plant dynamics, and was proven to be highly robust against disturbances and uncertainties. We confirmed its effectiveness through experiments.
Keywords
Underwater Robot; Time Delay Control; Trajectory Control; Nonlinear Control;
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