$\require{mediawiki-texvc}$

연합인증

연합인증 가입 기관의 연구자들은 소속기관의 인증정보(ID와 암호)를 이용해 다른 대학, 연구기관, 서비스 공급자의 다양한 온라인 자원과 연구 데이터를 이용할 수 있습니다.

이는 여행자가 자국에서 발행 받은 여권으로 세계 각국을 자유롭게 여행할 수 있는 것과 같습니다.

연합인증으로 이용이 가능한 서비스는 NTIS, DataON, Edison, Kafe, Webinar 등이 있습니다.

한번의 인증절차만으로 연합인증 가입 서비스에 추가 로그인 없이 이용이 가능합니다.

다만, 연합인증을 위해서는 최초 1회만 인증 절차가 필요합니다. (회원이 아닐 경우 회원 가입이 필요합니다.)

연합인증 절차는 다음과 같습니다.

최초이용시에는
ScienceON에 로그인 → 연합인증 서비스 접속 → 로그인 (본인 확인 또는 회원가입) → 서비스 이용

그 이후에는
ScienceON 로그인 → 연합인증 서비스 접속 → 서비스 이용

연합인증을 활용하시면 KISTI가 제공하는 다양한 서비스를 편리하게 이용하실 수 있습니다.

Six-Degree-of-Freedom Hovering Control of an Underwater Robotic Platform With Four Tilting Thrusters via Selective Switching Control

IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, v.20 no.5, 2015년, pp.2370 - 2378  

Sangrok Jin (Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea) ,  Jihoon Kim (Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea) ,  Jongwon Kim (Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea) ,  TaeWon Seo (Sch. of Mech. Eng., Yeungnam Univ., Gyeongsan, South Korea)

Abstract AI-Helper 아이콘AI-Helper

We introduce a new underwater robotic platform with a tilting thruster mechanism for hovering motion. The tilting thruster mechanism can implement six-degree-of-freedom (DOF) motion with only four thrusters, but tilting motion makes the system nonlinear. We designed a selective switching controller ...

주제어

참고문헌 (26)

  1. Design and performance of ODYSSEY IV: A deep ocean hover-capable AUV eskesen 2009 

  2. Proc OCEANS Longitudinal control design and performance evaluation for the nereus 11000�m underwater vehicle jakuba 0 1 

  3. Kopman, V., Cavaliere, N., Porfiri, M.. MASUV-1: A Miniature Underwater Vehicle With Multidirectional Thrust Vectoring for Safe Animal Interactions. IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, vol.17, no.3, 563-571.

  4. Yamaguchi, T., Numasato, H., Hirai, H.. A mode-switching control for motion control and its application to disk drives: design of optimal mode-switching conditions. IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, vol.3, no.3, 202-209.

  5. Lee, G., Wu, G., Kim, J., Seo, T.. High-payload climbing and transitioning by compliant locomotion with magnetic adhesion. Robotics and autonomous systems, vol.60, no.10, 1308-1316.

  6. Seo, T.W., Kim, H.S., Kang, D.S., Kim, J.. Gain-scheduled robust control of a novel 3-DOF micro parallel positioning platform via a dual stage servo system. Mechatronics : mechanics, electronics, control, vol.18, no.9, 495-505.

  7. Tanaka, K., Iwasaki, M., Wang, H.O.. Switching control of an R/C hovercraft: stabilization and smooth switching. IEEE transactions on systems, man, and cybernetics. a publication of the IEEE Systems, Man, and Cybernetics Society. Part B, Cybernetics, vol.31, no.6, 853-863.

  8. Guidance and Control of Ocean Vehicles Modeling of marine vehicles fossen 1994 5 

  9. Robots Motion and Force Control of Vehicle-Manipulator Systems Springer Tracts in Advanced Robotics Modeling of underwater robots antonelli 2006 2 22 

  10. Marine Hydrodynamics Hydrodynamics of slender bodies newman 1997 328 

  11. Giorgio Serchi, F., Arienti, A., Laschi, C.. Biomimetic Vortex Propulsion: Toward the New Paradigm of Soft Unmanned Underwater Vehicles. IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, vol.18, no.2, 484-493.

  12. Feitian Zhang, Thon, John, Thon, Cody, Xiaobo Tan. Miniature Underwater Glider: Design and Experimental Results. IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, vol.19, no.1, 394-399.

  13. Zhao, Side, Yuh, J.. Experimental study on advanced underwater robot control. IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, vol.21, no.4, 695-703.

  14. Ribas, David, Palomeras, Narcis, Ridao, Pere, Carreras, Marc, Mallios, Angelos. Girona 500 AUV: From Survey to Intervention. IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, vol.17, no.1, 46-53.

  15. Han, Jonghui, Park, Jonghoon, Chung, Wan Kyun. Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments. Ocean engineering, vol.38, no.10, 1197-1206.

  16. Proc IEEE/RSJ Int Conf Intell Robots Syst Dynamic analysis and two-time scale control for underwater vehicle-manipulator systems kim 0 577 

  17. Pipeline Eng Deep subsea oil and gas infrastructure development: Some challenges and solutions das 2010 9 161 

  18. McLain, Timothy W., Rock, Stephen M., Lee, Michael J.. Experiments in the coordinated control of an underwater arm/vehicle system. Autonomous robots, vol.3, no.2, 213-232.

  19. 10.3723/175605405784426637 

  20. Simulation and control of an underwater hexapod robot georgiades 2005 

  21. Sarkar, N., Podder, T.K.. Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization. IEEE journal of oceanic engineering, vol.26, no.2, 228-239.

  22. Methods of Analytical Dynamics Rigid body dynamics merovitch 1970 122 

  23. J Marine Sci Technol Empirical modeling of rotating thruster for underwater robotic platform jin 2014 

  24. 10.1007/1-84628-131-8_5 

  25. Guidance and Control of Ocean Vehicles Stability and control of underwater vehicles fossen 1994 93 

  26. Applied nonlinear control Advanced stability theory slotine 1991 100 

LOADING...
섹션별 컨텐츠 바로가기

AI-Helper ※ AI-Helper는 오픈소스 모델을 사용합니다.

AI-Helper 아이콘
AI-Helper
안녕하세요, AI-Helper입니다. 좌측 "선택된 텍스트"에서 텍스트를 선택하여 요약, 번역, 용어설명을 실행하세요.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.

선택된 텍스트

맨위로