Error analysis of underwater vehicle under influence of disturbance and time delay

외란과 시간 지연에 의한 수중 운동체의 오차 해석

The disturbance and time delay can often cause a significant error in the estimation of trajectory of a underwater vehicle. The time delay considered in this study is due to the delayed rudder response to the rudder input from the guidance control part. The simulation tests are performed on maneuver with constant rudder angle, zigzag maneuver, dive-climb maneuver, and corridor pattern maneuver. The results are compared with those of without delay cases.