A Study on the Design of a Maneuvering Controller for Submersible Vehicles

수중운동체의 조종제어기 설계연구

  • 양승윤 (국방과학연구소) ;
  • 이만형 (부산대학교 제어기계공학과 및 기계기술연구소)
  • Published : 1996.03.01


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.


Submersible Vehicles;Maneuvering Control;Variable Structure Control;Meneuvering Simulator