AUV의 궤적제어에 관한 연구

This paper presents a design method of multivariable robust servo system for tracking control system for AUV(Autonomous Underwater Vehicle). In order to obtain the basic data for the design of the tracking control system, the control algorithm is evaluated in the view of computer simulation results....

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Veröffentlicht in:Han-guk haeyang gonghak hoeji (Online) 1994, Vol.8 (2), p.56-63
Hauptverfasser: 유휘룡(Hui-ryong Yoo), 김성근(Seoung-gun Kim), 김상봉(Sang-bong Kim)
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container_title Han-guk haeyang gonghak hoeji (Online)
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creator 유휘룡(Hui-ryong Yoo)
김성근(Seoung-gun Kim)
김상봉(Sang-bong Kim)
description This paper presents a design method of multivariable robust servo system for tracking control system for AUV(Autonomous Underwater Vehicle). In order to obtain the basic data for the design of the tracking control system, the control algorithm is evaluated in the view of computer simulation results. The tracking control is carried out for an AUV with 2 main thrusters, 2 side thrusters and 2 thrusters for the movement to up-down direction. The results of computer simulation show that the proposed multivariable servo system design method is an efficient method for the control performance of tracking control system of AUV under severe underwater environment.
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title AUV의 궤적제어에 관한 연구
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