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Decoupled Controller Design of an Autonomous Underwater Vehicle and Performance Test Results

수중운동체에 대한 비연성 제어기 설계 및 성능 평가

  • 현철 (LIG Nex1 M&S 연구 센터)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.09.01

Abstract

In this paper, decoupled course, depth and roll controller design for an Autonomous Underwater Vehicle (AUV) and its performance test results are presented. Control system design is done using the PD control scheme based on a mathematical model of the AUV. Details of system implementation are given and the results of simulations and experiments using the prototype vehicle model are discussed. The designed controller was successfully applied to the nonlinear and coupled system under non-ideal actuator conditions.

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