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http://dx.doi.org/10.5302/J.ICROS.2015.15.0093

Design and Field Test of Heading and Depth Control Based on PD Control of Torpedo Type AUV, HW200  

Park, Sung-kook (Hanwha Corporation R&D Center)
Lee, Phil-yeop (Hanwha Corporation R&D Center)
Park, Sangwoong (Hanwha Corporation R&D Center)
Kwon, Soon T. (Hanwha Corporation R&D Center)
Jung, Hunsang (Hanwha Corporation R&D Center)
Park, Min-su (Hanwha Corporation R&D Center)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.10, 2015 , pp. 951-957 More about this Journal
Abstract
This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.
Keywords
UUV; AUV; HW200; PD controller; heading control; depth control; see trial;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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