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http://dx.doi.org/10.5302/J.ICROS.2011.17.12.1266

A Study on Way-Point Tracking of AUV using State Feedback  

Kwon, Soon-Tae (Pukyong National University)
Baek, Woon-Kyung (Pukyong National University)
Kang, In-Pil (Pukyong National University)
Choi, Hyeung-Sik (Korea Maritime University)
Joo, Moon-G. (Pukyong National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.12, 2011 , pp. 1266-1272 More about this Journal
Abstract
For way-point tracking of an autonomous underwater vehicle, a state feedback controller was designed by using pole placement scheme in discrete time domain. In the controller, 4 state variables were used for regulating the depth of the vehicle in z direction, and 3 state variables, for steering the vehicle in xy plane. Assuming constant speed of AUV, we simplified the design of the way-point tracking system. The proposed controller was simulated by MATLAB/Simulink using 6 degree-of-freedom nonlinear model and its performance of way point tracking was shown to be fulfilled within 1 m, nevertheless the proposed controller is quite simple and easy to implement compared to sliding mode controller.
Keywords
AUV; way point tracking; state feedback; MATLAB/Simulink;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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