Abstract

This paper considers a sliding mode controller for a depth and course control of a class of submersible Vehicles. Since the vehicle used here shows complex dynamic characteristics sensitive to speed variation and buoyancy, robustness in control of vertical and horizontal plane motions of the vehicle is achieved by using the sliding mode controller of which a structure varies according to a pre-designed principle, so called the variable structure control. To compare this controller with another in robustness, PID controller for the same model of vehicle is designed. From various simulations for two controllers, it is shown that the sliding mode controller is the more robust anainst to modeling errors and disturbances.

주제어

#수중운동체   #조종제어   #가변구조제어   #조종시뮬레이터   #수중운동체   #조종제어   #가변구조제어   #조종시뮬레이터  

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1. Yang, Seung-Yun 2000. "$H_{\infty}$ Depth and Course Controllers Design for Autonomous Underwater Vehicles" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A, 24(12): 2980~2988  원문보기 상세보기
2. Yang, In-Seok ; Kim, Young-Jin ; Lee, Dong-Ik 2010. "Actuator Failure Diagnosis and Accommodation Using Sliding Mode Control for Submersible Vehicle" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 16(7): 661~667  원문보기 상세보기
3. Choi, Jae-Weon ; Ha, Tae-Kyu ; Binugroho, Eko Henfri ; Yu, Chang-Ho ; Seo, Young-Bong 2010. "Design of a Test bed and Performance Evaluation for a Hovering Type Autonomous Underwater Vehicle under Open Control Platform" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 16(5): 489~497  원문보기 상세보기