• 한국해양공학회지
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• 제32권2호
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• pp.131-137
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• 2018

In this paper, we propose an adaptive backstepping controller to control the exact position and orientation of a remotely operated underwater vehicle with parametric model uncertainty. To further improve the angular velocity control precision of each thruster, a phase locked loop (PLL) controller has been added to the backstepping controller. A comparison of two backstepping controllers with and without the PLL control loop has been performed using simulations and experiments. The test results showed that the tracking performance could be improved by using the PLL control loop in the proposed adaptive backstepping controller.

• 대한기계학회논문집A
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• 제32권11호
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• pp.997-1002
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• 2008

This paper is mainly concerned with the development of a remotely operated vehicle for investigation of the coastal sea. For this, we have designed and constructed a vehicle entitled KMU-ROV(Korea Maritime University Remotely Operated Vehicle), for purpose of investigation mission under 50(m) of the sea surface. We have designed six independent waterproof actuators and the housing of the controller for underwater operation. For six degree-of-freedom motion, we have analyzed the dynamics of the KMU-ROV and have designed a new composition of six actuators including the driving system. For motion control, we have composed a concurrent velocity control algorithm for controlling the speed of all the actuating motors. The control system for the KMU-ROV is composed of a master DSP controller, DSP controller for the motor control and various sensors. We composed the PID control algorithm and a network system for controlling motors using the CAN communication. The performance of the KMU-ROV was presented by testing the developed control algorithm and control system under the water.

• 대한조선학회논문집
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• 제45권6호
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• pp.579-589
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• 2008

In the past few years, there are many studies and researches of the underwater vehicles which are carried out its mission using sonar sensors. MSCL(Marine System Control Lab.) at Inha University developed test-bed small ROV, ISRO. ISRO is an open-frame type and has 4 thrusters. ISRO can control 4 motions i.e surge, sway, yaw and heave with sonar sensors. ISRO is developed for inspection of ship hull, marine structure, plant of lake or river and so on. When ROV ISRO inspects something, it is necessary to control the position of ROV ISRO's for the movement and anti-collision with structures in the underwater. In this paper, we deal with the development of a small ROV and verification of the position control system via simulation and experiment using sonar sensors.