Abstract
Abstract This paper describes the mathematical model and controller design for Manta-type Unmanned Underwater Test Vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (Planar Motion Mechanism) test. Based on the 6 DOF dynamic equations, numerical simulations have been performed to analyze the dynamic performances of the MUUTV. In addition, using the mathematical model PID and sliding mode controller are constructed for the diving and steering maneuver. Simulation results show that the control performances of the MUUTV and compared with these of NPS (Naval Postgraduate School) AUV II.Key Words : Manta-type Unmanned Underwater Test Vehicle, Mathematical Model, Controller Design, Depth Control, Heading Control, PID Controller, Sliding Mode Controller 본 논문은 수중운동체특화연구센터(UVRC, SM-23)의 연구비 지원으로 수행되었음. * 교신저자 : 김준영(jkim@jejunu.ac.kr)접수일 09년 10월 15일 수정일 09년 12월 21일 게재확정일 10년 01월 20일
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