시간지연제어기법을 이용한 수중로봇의 궤적 제어

Trajectory Control of Underwater Robot using Time Delay Control

  • 박준영 (한전전력연구원 전략기술연구소) ;
  • 조병학 (한전전력연구원 전략기술연구소) ;
  • 이재경 (한전전력연구원 전략기술연구소)
  • 발행 : 2008.08.01


In this paper, the trajectory control problem of an underwater robot is addressed. From the viewpoint of control engineering, trajectory control of the underwater robot is not an easy task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy forces and hydrodynamic damping, the difference between the centers of buoyancy and gravity, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring the nonlinear plant dynamics, and was proven to be highly robust against disturbances and uncertainties. We confirmed its effectiveness through experiments.


수중로봇;시간지연제어기법;궤적 제어;비선형 제어


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