Study for Tracking Control of Autonomous Underwater Vehicle

J. Ocean Eng. Technol. 1994;8(2):56-63.

AUV의 궤적제어에 관한 연구

유휘룡,김성근,김상봉

부산수산대학교 대학원,부산수산대학교 해양산업개발연구센터,부산수산대학교 기계공학과

Keywords: AUV(Autonomous Underwater Vehicle), Servo Control System, Servo Compensator

Abstract

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.