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만타형 자율무인잠수정의 운동성능 및 운동제어에 대한 실해역실험Field experiments for dynamic characteristics and motion control of a manta-type autonomous underwater vehicle
- Other Titles
- Field experiments for dynamic characteristics and motion control of a manta-type autonomous underwater vehicle
- Issue Date
- Sep-2013
- Publisher
- Institute of Control, Robotics and Systems
- Keywords
- Depth control; Heading angle control; Manta AUV; Motion control
- Citation
- Journal of Institute of Control, Robotics and Systems, v.19, no.9, pp.760 - 767
- Indexed
- SCOPUS
KCI
- Volume
- 19
- Number
- 9
- Start Page
- 760
- End Page
- 767
- ISSN
- 1976-5622
- Abstract
- In this paper, we developed a Manta-type AUV (Autonomous Underwater Vehicle) and analyzed its control performance as well as its dynamic characteristics underwater. The nonlinear motion of equations, which are expressed in terms of hydrodynamic coefficients obtained by various experiments, are used to simulate the motion of a Manta AUV underwater. We applied the sliding-mode theory to control the heading angle and depth of the vehicle, and confirmed the effectiveness of the control algorithm through simulations and sea-trials.
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Related Researcher
- Park, Jong Hyeon
- COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)