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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

Abstract

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.

Keywords

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

References

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Cited by

  1. A Study of the Control System on the Manta-type UUV vol.35, pp.5, 2011, https://doi.org/10.5394/KINPR.2011.35.5.359