모델 불확실성을 갖는 6자유도 원격조종 수중로봇의 외란 관측기 기반 제어Disturbance Observer-Based Control for 6-DOF Remotely Operated Underwater Vehicle with Model Uncertainties
- Other Titles
- Disturbance Observer-Based Control for 6-DOF Remotely Operated Underwater Vehicle with Model Uncertainties
- Authors
- 김준식; 이동철; 최영진
- Issue Date
- Feb-2023
- Publisher
- 한국로봇학회
- Keywords
- Remotely Operated underwater Vehicle (ROV); Disturbance Observer (DOB)
- Citation
- 로봇학회 논문지, v.18, no.1, pp 82 - 87
- Pages
- 6
- Indexed
- KCI
- Journal Title
- 로봇학회 논문지
- Volume
- 18
- Number
- 1
- Start Page
- 82
- End Page
- 87
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/113063
- DOI
- 10.7746/jkros.2023.18.1.082
- ISSN
- 1975-6291
2287-3961
- Abstract
- This paper proposes a disturbance observer-based control for 6-DOF remotely operated underwater vehicles with model uncertainties. The sum of external disturbance and the forces generated from model parameters except for the inertial matrix of the hydrodynamic model is defined as a lumped disturbance in this paper. Then, the lumped disturbance caused by model uncertainties and the external forces is estimated using the disturbance observer. Fortunately, the disturbance observer is constructed as a linear form because all the elements of the inertial matrix of the hydrodynamic model are constants. To verify the proposed control scheme, we show that the actual lumped disturbance is similar to the estimated lumped disturbance obtained by the disturbance observer. Finally, the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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