RMAC를 적용한 어뢰형 무인잠수정(ISiMi)의 수평면 경로추종 제어

• Published in: Han-guk haeyang gonghak hoeji (Online) Vol. 23; no. 6; pp. 146 - 155
• Main Authors: 김영식(Young-Shik Kim), 이지홍(Jihong Lee), 김진하(Jin-Ha Kim), 전봉환(Bong-Huan Jun), 이판묵(Pan-Mook Lee)
• Format: Journal Article
• Language: Korean
• Published: 한국해양공학회 2009
• Subjects: 해양공학; RMAC(Resolved motion and acceleration control); Path tracking control 경로추종제어; ISiMi100 이심이100; Underactuated system 불충분 작동기를 가진 시스템; ISiMi 이심이; AUV(Autonomous underwater vehicle) 무인잠수정; 100
• ISSN: 1225-0767; 2287-6715

This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.