한국군사과학기술학회지 (Journal of the Korea Institute of Military Science and Technology)

  • 제21권6호
  • /
  • Pages.850-856
  • /
  • 2018
  • /
  • 1598-9127(pISSN)
  • /
  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
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반복 학습을 통한 무인 선박의 제어기 설계에 관한 연구

A Study on the Controller Design of Unmanned Surface Vessel through Repetitive Learning Method

  • 김민철 (육군3사관학교 기계공학과)
  • Kim, Mincheul (Department of Mechanical Engineering, Korea Army Academy at Yeongcheon)
  • 투고 : 2018.07.10
  • 심사 : 2018.10.19
  • 발행 : 2018.12.05
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초록

In this paper, a controller based on repetitive learning control is designed to control an unmanned surface vessel with nonlinear characteristics and unknown parameters. First, we define the equations of motion and error system of the unmanned vessel, and then design an repetitive learning controller composed of system error and estimated unknown parameters based on repetitive learning control and adaptive control. The stability of the unmanned vessel model controlled by the designed controller is verified through the analysis of the Lyapunov stability. Simulation shows that the error converges asymptotically to zero with semi-global result, confirming that the unmanned vessel is moving toward a given ideal path, and verifies that the controller is also feasible.

키워드

GSGGBW_2018_v21n6_850_f0001.png 이미지

Fig. 1. A ship placed in a two-dimensional plane coordinate system

GSGGBW_2018_v21n6_850_f0002.png 이미지

Fig. 2. Position tracking error variation for each axis

GSGGBW_2018_v21n6_850_f0003.png 이미지

Fig. 3. Position tracking error for each axis

GSGGBW_2018_v21n6_850_f0004.png 이미지

Fig. 4. Position tracking error variation for each axis

GSGGBW_2018_v21n6_850_f0005.png 이미지

Fig. 5. Control input for each axis

참고문헌

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