JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Design and Field Test of Heading and Depth Control Based on PD Control of Torpedo Type AUV, HW200
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Design and Field Test of Heading and Depth Control Based on PD Control of Torpedo Type AUV, HW200
Park, Sung-kook; Lee, Phil-yeop; Park, Sangwoong; Kwon, Soon T.; Jung, Hunsang; Park, Min-su;
 
 Abstract
This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.
 Keywords
UUV;AUV;HW200;PD controller;heading control;depth control;see trial;
 Language
Korean
 Cited by
 References
1.
J. R. Choi, C. K. Kim, and D. K. Kim, "Development trends of UUV," National Defense and Technology (in Korean), no. 2, pp. 52-69, Feb. 2012.

2.
H. S. Jung, P. Y. Lee, S. K. Park, and S. T. Kwon, "See trial of portable autonomous underwater vehicle," Proc. of the Conf. Korean Unmanned Underwater Vehicle 2013 (in Korean), pp. 24-27, Sep. 2013.

3.
S. K. Park, P. Y. Lee, S. W. Park, H. S. Jung, and M. S. Park, "Design and field test of heading and depth control for autonomous underwater vehicle HW200," Proc. of Institute of Control, Robotics and System Annual Conference 2015 (in Korean), Daejeon, Korea, pp. 365-366, May 2015.

4.
J. R. Choi, "UUV," Korea Robotics Society Review (in Korean), vol. 6, no. 4, pp. 35-45, 2009.

5.
L. Lapierre, "Robust diving control of an AUV," IEEE Journal of Oceanic Engineering, vol. 36, no. 1, pp. 92-104, Jan. 2009. crossref(new window)

6.
F. Repoulias and E. Papadopoulos, "Planar trajectory planning and tracking control design for underactuated AUVs," IEEE Journal of Oceanic Engineering, vol. 34, pp. 1650-1667, Feb. 2007. crossref(new window)

7.
F. Y. Bi, Y. J. Wei, J. Z. Zhang, and W. Cao, "Position-tracking control of underactuated autonomous undewater vehicles in the presence of unknown ocean currents," IET Control Theory and Applications, vol. 4, no. 11, pp. 2369-2380, Nov. 2010. crossref(new window)

8.
K. P. Venugopal, R. Sudhakar, and A. S. Pandya, "On-line learing control of autonomous underwater vehicle using feedforward neural networks," IEEE Journal of Oceanic Engineering, vol. 17, no. 4, pp. 308-319, Oct. 1992. crossref(new window)

9.
S. B. Bae, D. H. Shin, S. T. Kwon, and M. G. Joo, "An LQR controller for autonomous underwater vehicle," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 2, pp. 132-137, Feb. 2014. crossref(new window)

10.
S. B. Bae, D. H. Shin, S. H. Park, and M. G. Joo, "A Study on an Integral State Feedback Controller for Way-point Tracking of an AUV," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 19, no. 8, pp. 661-666, Aug. 2013. crossref(new window)

11.
P. M. Lee, "Development of current estimation algorithm and hybrid navigation algorithm for autonomous underwater vehicle (final report)," Korea Research Institute of Ships & Ocean Engineering (KRISO), Korea, Report (in Korean), 2014.

12.
T. Prestero, "Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle," Ph.D. Thesis. Massachusetts Institute of Technology, 2001.