Path Tracking Control Based on RMAC in Horizontal Plane for a Torpedo-Shape AUV, ISiMi |
Kim Young-Shik,Lee Ji-Hong,Kim Jin-Ha,Jun Bong-Huan,Lee Pan-Mook |
Ocean Engineering Research Department KORDI/MOERI,BK21 Mechatronics Group at Chungnam National University,Ocean Engineering Research Department KORDI/MOERI,Ocean Engineering Research Department KORDI/MOERI,Ocean Engineering Research Department KORDI/M |
RMAC를 적용한 어뢰형 무인잠수정(ISiMi)의 수평면 경로추종 제어 |
김영식,이지홍,김진하,전봉환,이판묵 |
한국해양연구원 해양시스템안전연구소 해양시스템연구부,충남대학교 BK21 메카트로닉스사업단,한국해양연구원 해양시스템안전연구소 해양시스템연구부,한국해양연구원 해양시스템안전연구소 해양시스템연구부,한국해양연구원 해양시스템안전연구소 해양시스템연구부 |
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© 2009 The Korean Society of Ocean Engineers
Open access / Under a Creative Commons License
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Keywords:
AUV(Autonomous underwater vehicle), Underactuated system, Path tracking control, RMAC(Resolved motion and acceleration control), ISiMi, ISiMi100 |
핵심용어:
무인잠수정, 불충분 작동기를 가진 시스템, 경로추종제어, 이심이, 이심이100 |
Abstract |
This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented. |
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