• 동력기계공학회지
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• 제2권2호
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• pp.47-54
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• 1998

Underwater robotic vehicles(URVs) have been an important tool for various underwater tasks such as pipe-lining, data collection, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc because they have greater speed, endurance, depth capability, and safety than human divers. As the use of such vehicles increases, the vehicle control system is one of the most critical subsystems to increase autonomy of the vehicle. The vehicle dynamics are nonlinear and their hydrodynamic coefficients are often difficult to estimate accurately. It is desirable to have an intelligent vehicle control system because the fixed-parameter linear controller such as PID may not be able to handle these changes promptly and result in poor performance. In this paper we described and analyzed a new type of fuzzy model-based controller which is designed for underwater robotic vehicles and based on Takagi-Sugeno-Kang(TSK) fuzzy model. The proposed fuzzy controller: 1) is a nonlinear controller, but a linear state feedback controller in the consequent of each local fuzzy control rule; 2) can guarantee the stability of the closed-loop fuzzy system; 3) is relatively easy to implement. Its good performance as well as its robustness to parameter changes will be shown and compared with those of the PID controller by simulation.

• 한국해안해양공학회지
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• 제6권2호
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• pp.174-185
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• 1994

본 논문에서는 수평유속의 연직방향 변화 결정에 유한요소기법(FEM)을 이용하고 수평방향으로는 유한차분기법을 사용하는 복합형 Galerkin 연직함수 전개모델에 새로이 유사변환기법을 추가한 3차원 해수유동모델의 개발에 대하여 기술하였다. 기본방정식의 연직방향으로 선형보간함수를 기저함수로 사용하여 Galerkin 기법을 적용하여 구성되는 행열 방정식에 유사변환기법을 적용, 각 절점의 유속값을 해석적으로 구하였다. 유사변환기법을 적용하여 최종 얻어지는 모우드 shape 방정식은 비연계된 방정식으로 구성되므로 역행렬 계산이 필요없어 계산시간이 절약된다. 또한 수립된 모델은 고유벡터행렬로 구성되는 모우드 shape가 도입됨으로써 모우드 shape 몇개만 사용하여도 거의 수렴된 값을 얻을 수 있어 계산시간을 절약할 수 있다. 등수심하 유한영역과 무한영역에서의 수치실험을 통하여 개발된 모델의 적용 가능성을 검증하였다.

• 한국해안·해양공학회논문집
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• 제21권5호
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• pp.410-418
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• 2009

선형포텐셜이론을 가정하여 부분 반사 안벽 앞에 계류된 부유체의 동유체력과 운동응답을 해석할 수 있는 경계요소법을 개발 적용하였다. 동유체력인 부가질량과 감쇠계수는 부유체의 잠긴깊이와 안벽에서의 반사율 그리고 부유체와 안벽사이의 떨어진 거리에 밀접한 관련이 있다. 특히 안벽에서의 반사율은 안벽과 부유체사이의 제한유체영역내에서 발생하는 공진현상에 의하여 증폭된 운동변위의 피크값을 줄이는 등 운동응답에 중요한 영향을 미친다. 개발된 수치해석법은 부유체의 형상, 입사각, 안벽의 속성, 입사파의 특성 등의 변화에 따른 부유체의 운동성능을 평가하는데 이용될 것이며, 또한 항만내 계류된 선박의 운동특성을 고려한 항만설계의 기초자료로 활용 될 것이다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 추계학술대회 논문집
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• pp.91-96
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• 2001

This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamics, and a sliding mode control is introduced to attenuate the effects of the neural network's reconstruction errors and the disturbances of AUV's dynamics. The presented controller is consist of three parallel schemes; linear feedback control, sliding mode control and neural network. Lyapunov theory is used to guarantee the asymptotic convergence of trajectory tracking errors and the neural network's weights errors. Numerical simulations for motion control of an AUV are performed to illustrate to effectiveness of the proposed techniques.

• 한국해양공학회지
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• 제28권6호
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• pp.508-516
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• 2014

A numerical method to investigate the non-linear motion characteristics of a TLP is established. A time domain simulation that includes the memory effect using the convolution integral is used to consider the transient effect of TLP motion. The hydrodynamic coefficients and wave force are calculated using a potential flow model based on the HOBEM(higher order boundary element method). The viscous drag force acting on the platform and tendons is also considered by using Morison’s drag. The results of the present numerical method are compared with experimental data. The focus is the nonlinear effect due to the viscous drag force on the TLP motion. The ringing, springing, and drift motion are due to the drag force based on Morison's formula.

• 대한기계학회논문집A
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• 제24권12호
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• pp.2980-2988
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• 2000

In this paper, H(sub)$\infty$ depth and course controllers of autonomous underwater vehicles using H(sub)$\infty$ servo control are proposed. An H(sub)$\infty$ servo problem is foumulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H(sub)$\infty$servo problem is as follows; firest, this problem is modified as an H(sub)$\infty$ control problem for the generalized plant that includes a reference input mode, and than a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach, The H(sub)$\infty$depth and course controllers are designed to satisfy the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(was force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controlled are evaluated with computer simulations, and finally these simulation results show the usefulness and applicability of the propose H(sub)$\infty$ depth and course control systems.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.264-269
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• 2002

In this paper, Η$_{\infty}$ depth and course controller of an AUV(Autonomous Underwater Vehicle) using Η$_{\infty}$ servo control is proposed. The Η$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the Η$_{\infty}$ servo problem is as fellows: first, this problem is modified as an Η$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The Η$_{\infty}$ depth and course controller are designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed Η$_{\infty}$ depth and course control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.215-215
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• 2000

In this paper, depth and course controllers of autonomous underwater vehicles using H$_{\infty}$ servo control are proposed. An H$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H$_{\infty}$ servo problem is as follows: first, this problem is modified as an H$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The H$_{\infty}$ depth and course controllers ate designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed H$_{\infty}$ depth and course control systems.

• 한국해안해양공학회지
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• 제5권2호
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• pp.107-120
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• 1993

본 논문은 유사변환기법을 이용한 새로운 3차원 연직 모우드 전개 모델의 개발에 대하여 기술한다. 기본방정식을 External 모우드와 Internal 모우드로 분리시킨 다음 Internal 모우드식에 Galerkin 방법을 적용하고 구성되는 행열방정식에 유사변환기법을 적용, 기저함수의 계수 값을 구하였다. 최종 얻어지는 기저함수의 계수 값은 마찰장을 제외하고는 비연계되어 시간 간격의 제약을 거의 받지않고 연직 구조를 구할 수 있기 때문에 경제성면에서 탁월하다. 수립된 모델은 어떤 기저함수라도 적용 가능하나 현 단계에서는 Chebyshev 다항식함수가 사용되었으며, 바람응력은 일정한 것으로 가정하였다. 모델 테스트로서 정상상태의 균일한 바람응력이 가해지는 장방형 Basin에 적용하여 모델의 적용 가능성을 검증하였다.

• 수산해양기술연구
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• 제33권4호
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• pp.290-297
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• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.