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Path Tracking Control Based on RMAC in Horizontal Plane for a Torpedo-Shape AUV, ISiMi  

Kim, Young-Shik (Ocean Engineering Research Department, KORDI/MOERI)
Lee, Ji-Hong (BK21 Mechatronics Group at Chungnam National University)
Kim, Jin-Ha (Ocean Engineering Research Department, KORDI/MOERI)
Jun, Bong-Huan (Ocean Engineering Research Department, KORDI/MOERI)
Lee, Pan-Mook (Ocean Engineering Research Department, KORDI/MOERI)
Publication Information
Journal of Ocean Engineering and Technology / v.23, no.6, 2009 , pp. 146-155 More about this Journal
Abstract
This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.
Keywords
AUV(Autonomous underwater vehicle); Underactuated system; Path tracking control; RMAC(Resolved motion and acceleration control); ISiMi; ISiMi100;
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Times Cited By KSCI : 2  (Citation Analysis)
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