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만타형 자율무인잠수정의 운동성능 및 운동제어에 대한 실해역실험

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dc.contributor.authorKim, Dong Hee-
dc.contributor.authorPark, Jong Hyeon-
dc.contributor.authorKim, Joon Young-
dc.contributor.authorChoi, Hyeung Sik-
dc.contributor.authorAhn, Jin Hyeong-
dc.date.accessioned2022-07-16T08:33:41Z-
dc.date.available2022-07-16T08:33:41Z-
dc.date.issued2013-09-
dc.identifier.issn1976-5622-
dc.identifier.issn2233-4335-
dc.identifier.urihttps://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/162104-
dc.description.abstractIn 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.-
dc.format.extent8-
dc.language한국어-
dc.language.isoKOR-
dc.publisher제어·로봇·시스템학회-
dc.title만타형 자율무인잠수정의 운동성능 및 운동제어에 대한 실해역실험-
dc.title.alternativeField experiments for dynamic characteristics and motion control of a manta-type autonomous underwater vehicle-
dc.typeArticle-
dc.publisher.location대한민국-
dc.identifier.doi10.5302/J.ICROS.2013.13.9020-
dc.identifier.scopusid2-s2.0-84887134918-
dc.identifier.bibliographicCitation제어.로봇.시스템학회 논문지, v.19, no.9, pp 760 - 767-
dc.citation.title제어.로봇.시스템학회 논문지-
dc.citation.volume19-
dc.citation.number9-
dc.citation.startPage760-
dc.citation.endPage767-
dc.type.docTypeArticle-
dc.identifier.kciidART001800068-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.description.journalRegisteredClasskci-
dc.subject.keywordPlusAUV (autonomous underwater vehicle)-
dc.subject.keywordPlusControl performance-
dc.subject.keywordPlusDepth control-
dc.subject.keywordPlusDynamic characteristics-
dc.subject.keywordPlusHeading angles-
dc.subject.keywordPlusHydrodynamic coefficients-
dc.subject.keywordPlusManta AUV-
dc.subject.keywordPlusNon-linear motions-
dc.subject.keywordPlusAlgorithms-
dc.subject.keywordPlusEquations of motion-
dc.subject.keywordPlusMotion control-
dc.subject.keywordPlusNonlinear equations-
dc.subject.keywordPlusSailing vessels-
dc.subject.keywordPlusAutonomous underwater vehicles-
dc.subject.keywordAuthorDepth control-
dc.subject.keywordAuthorHeading angle control-
dc.subject.keywordAuthorManta AUV-
dc.subject.keywordAuthorMotion control-
dc.identifier.urlhttp://koreascience.or.kr/article/JAKO201307651679896.page-
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