한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제30권10호
  • /
  • Pages.1031-1039
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  • 2013
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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6 자유도 수중로봇 플랫폼의 백스테핑 제어를 위한 제어이득 최적화

Gain Optimization of a Back-Stepping Controller for 6-Dof Underwater Robotic Platform

  • 김지훈 (서울대학교 기계항공공학부 대학원) ;
  • 김종원 (서울대학교 기계항공공학부 대학원) ;
  • 진상록 (서울대학교 기계항공공학부 대학원) ;
  • 서태원 (영남대학교 기계공학부) ;
  • 김종원 (서울대학교 기계항공공공학부)
  • Kim, Jihoon (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Jong-Won (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Jin, Sangrok (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam Univ.) ;
  • Kim, Jongwon (School of Mechanical and Aerospace Engineering, Seoul National Univ.)
  • 투고 : 2013.03.19
  • 심사 : 2013.09.11
  • 발행 : 2013.10.01
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초록

This paper presents gain optimization of a 6-DOF underwater robotic platform with 4 rotatable thrusters. To stabilize the 6-DOF motion of the underwater robotic platform, a back-stepping controller is designed with 6 proportional gains and 6 derivative gains. The 12 gains of the backstepping controller are optimized to decrease settling time in step response in 6-DOF motion independently. Stability criterion and overshoots are used as a constraint of the optimization problem. Trust-region algorithm and hybrid Taguchi-Random order Coordinate search algorithm are used to determine the optimal parameters, and the results by two methods are analyzed. Additionally, the resulting controller shows improved performance under disturbances.

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참고문헌

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