수중 경작업용 ROV URI-L의 자세유지를 위한 운동제어 알고리즘에 대한 연구

Abstract

This paper addresses the motion control method for posture maintenance of a LWC(Light-work-class) ROV. As URI-L has to make specific motion, simplified dynamic model for control of URI-L is proposed. To draw simplified dynamic model, this paper is based on the premise that URI-L is driven at low speed and the motion of each degree of freedom is decoupled from each other. The most general PD controller and EL(Exact linearizing) model-based controller are suggested based on the dynamic model drawn. Later, the parameter of URI-L dynamic model will be estimated and the simulation for presented control algorithms will be conducted, to compare the results.