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http://dx.doi.org/10.5302/J.ICROS.2013.13.9020

Field Experiments for Dynamic Characteristics and Motion Control of a Manta-type Autonomous Underwater Vehicle  

Kim, Dong Hee (Department of Mechanical Engineering, Hanyang University)
Park, Jong Hyeon (School of Mechanical Engineering, Hanyang University)
Kim, Joon Young (Division of Marine Equipment Engineering, Korea Maritime University)
Choi, Hyeung Sik (Division of Mechanical and Energy Systems Engineering, Korea Maritime University)
Ahn, Jin Hyeong (Agency for Defense Development)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.9, 2013 , pp. 760-767 More about this Journal
Abstract
In this paper, we developed a Manta-type AUV (Autonomous Underwater Vehicle) and analyzed its control performance as well as its dynamic characteristics underwater. The nonlinear motion of equations, which are expressed in terms of hydrodynamic coefficients obtained by various experiments, are used to simulate the motion of a Manta AUV underwater. We applied the sliding-mode theory to control the heading angle and depth of the vehicle, and confirmed the effectiveness of the control algorithm through simulations and sea-trials.
Keywords
Manta AUV; motion control; heading angle control; depth control;
Citations & Related Records
Times Cited By KSCI : 7  (Citation Analysis)
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