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http://dx.doi.org/10.5302/J.ICROS.2013.13.9021

Decoupled Controller Design of an Autonomous Underwater Vehicle and Performance Test Results  

Hyun, Chul (M&S R&D CENTER, LIG Nex1)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.9, 2013 , pp. 768-773 More about this Journal
Abstract
In this paper, decoupled course, depth and roll controller design for an Autonomous Underwater Vehicle (AUV) and its performance test results are presented. Control system design is done using the PD control scheme based on a mathematical model of the AUV. Details of system implementation are given and the results of simulations and experiments using the prototype vehicle model are discussed. The designed controller was successfully applied to the nonlinear and coupled system under non-ideal actuator conditions.
Keywords
AUV; course and depth control; PD controller; actuator modeling;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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