틸팅하는 추진기를 지닌 수중로봇의 추력벡터 분해와 구동범위 제한 알고리즘으로 구성된 제어기의 제어 이득 최적화open accessGain optimization of a controller with decomposition of thrust force and actuation limit algorithm for a tilted thrusting underwater robot
- Other Titles
- Gain optimization of a controller with decomposition of thrust force and actuation limit algorithm for a tilted thrusting underwater robot
- Authors
- 박정애; 김종원; 서태원; 진상록
- Issue Date
- Nov-2019
- Publisher
- Korean Society for Precision Engineeing
- Keywords
- Gain optimization; PID-Anti windup controller; Tilting mechanism; Underwater robot; Vector decomposition
- Citation
- Journal of the Korean Society for Precision Engineering, v.36, no.11, pp 1025 - 1031
- Pages
- 7
- Indexed
- SCOPUS
KCI
- Journal Title
- Journal of the Korean Society for Precision Engineering
- Volume
- 36
- Number
- 11
- Start Page
- 1025
- End Page
- 1031
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/2117
- DOI
- 10.7736/KSPE.2019.36.11.1025
- ISSN
- 1225-9071
2287-8769
- Abstract
- This paper presents gain optimization for a controller of a 6- DOF underwater robot with tilting thrusters. PID control system with anti-windup technique is designed to stabilize the hovering motion of the robot. The controller comprises thrust vector decomposition to overcome nonlinearity of the thrust vector and also includes an algorithm to compensate for saturation of thrusters. A total of 24 control gains should be tuned in this controller, and gain optimization is performed according to four system errors using genetic algorithm. First, 18 PID control gains were optimized and then 6 gains were optimized to affect anti-windup. As a result, control gains optimized by the integral absolute error showed the best performance, and it is verified that tracking error in position and orientation of the robot were reduced by 29.38% compared with initial gains.
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