Mathematical Modeling for Dynamic Performance Analysis and Controller Design of Manta-type UUV

만타형상 무인잠수정의 운동성능 해석 및 제어기 설계를 위한 비선형 수학모델 개발

  • Byun, Seung-Woo (Department of Ocean System Engineering, Jeju National University) ;
  • Kim, Joon-Young (Department of Ocean System Engineering, Jeju National University / Marine and Environmental Research Institute, Jeju National University)
  • 변승우 (제주대학교 해양시스템공학과) ;
  • 김준영 (제주대학교 해양시스템공학과 / 제주대학교 해양과환경연구소)
  • Published : 2010.01.31


This paper describes the mathematical model and controller design for Manta-type Unmanned Underwater Test Vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (Planar Motion Mechanism) test. Based on the 6 DOF dynamic equations, numerical simulations have been performed to analyze the dynamic performances of the MUUTV. In addition, using the mathematical model PID and sliding mode controller are constructed for the diving and steering maneuver. Simulation results show that the control performances of the MUUTV and compared with these of NPS (Naval Postgraduate School) AUV II.


Manta-type Unmanned Underwater Test Vehicle;Mathematical Model;Controller Design;Depth Control, Heading Control;PID Controller;Sliding Mode Controller


  1. 전봉환, 이판묵, 임용곤, 홍석원, "무인잠수정의 통합시뮬레이션 환경의 개발," 제3회 해상무기체계 발전세미나, pp. 81-87, 2000. 6.
  2. 전봉환, 이판묵, 이계홍, 홍석원, 이지홍, "네 대의 주 추진기를 이용항 무인잠수정의 속도, 심도 및 방위각 제어 - 시뮬레이션 및 실험," 해양공학회지 제 19권 제 2호, pp. 67-73, 2005. 4.
  3. 손경호, 이승건, 하승필, "Manta형 무인잠수정의 6자유도 운동 수학모델및 조종응답 특성,"대한조선학회논문집, 제 43권 4호, pp. 339-413, 2006. 8.
  4. Gertler, M., and Hagen, G. R., "Standard equations of motion for submarine simulations," NSRDC Report No. 2510, 1967.
  5. Abkowitz, Martin A., "Stability and Motion Control of Ocean Vehicles,"The MIT Press, Cambridge, 1969.
  6. Feldman, J., "DTNSRDC Revised Standard Submarine Equation of Motion,"Report No. DTNSRDC/SPD-0393-09, Washington, D.C., 1979.
  7. Fossen, T.I., "Guidance and Control of Ocean Vehicles,"John Wiley & Son, New York, 1994.
  8. Healey, A. J. and Lienard, D., "Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles,"IEEE J. of Oceanic Engineering. Vol. 18, No. 3, 1993.
  9. 이승건, 손경호, 이상의, 황성준, 서정호, "만타형 수중운동체의 사항시험에 관한 연구," 한국항해항만학회지, 제 29권, 제 8호, pp. 679-684, 2005. 10.
  10. 김준영, "Controller Design for an Autonomou s Underwater Vehicle Using Estimated Hydrod ynamic Coefficients," 해양공학회지 제 20권 제 6호, pp. 7-17, 2006. 12.

Cited by

  1. A Study of the Control System on the Manta-type UUV vol.35, pp.5, 2011,