무지향성 수중 로봇의 정밀 위치 제어를 위한 제어 시스템 설계

Abstract

This paper proposes a control architecture and algorithm for an omni-directional underwater robot. Since fast and accurate motion of an underwater robot becomes a key issue for missions such as underwater structure inspection, the low-level control performance is considered as basic requirements. However, thruster nonlinearity with dead-zone and difference among horizontal thrusters make the problem difficult because an underwater robot is mostly in a transient state during fine motion control. In this paper, an accurate heading control scheme and its control architecture are proposed to improve control performance using a simple null motion control based PD controller. The proposed scheme was verified by experimental pool tests with an underwater robot, yShark which has been developed by Korea Institute of Ocean Science and Technology (KIOST).evel control performance is considered as basic requirements. However, thruster nonlinearity with dead-zone and difference among horizontal thrusters make the problem difficult because an underwater robot is mostly in a transient state during fine motion control. In this paper, an accurate heading control scheme and its control architecture are proposed to improve control performance using a simple null motion control based PD controller. The proposed scheme was verified by experimental pool tests with an underwater robot, yShark which has been developed by Korea Institute of Ocean Science and Technology (KIOST).