전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제66권2호
  • /
  • Pages.409-415
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  • 2017
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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불확실 유체 역학 계수를 가진 대형급 무인잠수정의 강인 경로점 추적

Robust Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with Uncertain Hydrodynamic Coefficients

  • 투고 : 2017.01.12
  • 심사 : 2017.01.25
  • 발행 : 2017.02.01
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초록

This paper addresses on an linear matrix inequality (LMI) formulation of the robust waypoint tracking problem of large diameter unmanned underwater vehicles (LDUUVs) in the horizontal plane. The interested design issue can be reformed as the robust asymptotic stabilization of the provided error dynamics with respect to the desired yaw angle, surge speed and attitude. Sufficient conditions for its robust asymptotic stabilizability against the hydrodynamic uncertainties are derived in the format of LMI. An example is provided to testify the validity of the proposed theoretical claims.

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참고문헌

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