Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 16 Issue 6
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- Pages.166-175
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- 1999
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Design and Performance Evaluation of Controller for Unstable Motion of Underwater Vehicle after Water Entry
수중운동체 입수 초기의 불안정 거동에 대한 제어기 설계 및 성능평가
- Published : 1999.01.01
Abstract
This paper describes a design and performance evaluation of robust controller which overrides unstable motion and pulls out quickly after water entry of underwater vehicle dropped from aircraft or surface ship. We use 6-DOF equation for model of motions and assume parameter uncertainty to reflect the difference of real motion from modelled motion equation. we represent a nonlinear system with uncertainty as Takagi and Sugeno's(T-S) fuzzy models and design controller stabilizing them. The fuzzy controller utilizes the concept of so-called parallel distributed compensation (PDC). Finally, we confirm stability and performance of the controller through computer simulation and hardware in the loop simulation (HILS).
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