조류를 고려한 작동기 수가 부족한 무인 잠수정의 단방향 도킹 기법과 조류 관측기의 설계

Abstract

Underwater docking of an AUV (Autonomous Underwater Vehicle) provides a means of data transmit and battery recharge to extend the endurance capability of the vehicle. In this paper, we consider a torpedo-shaped under-actuated vehicle and a funnel-shaped unidirectional docking station. The problem is that the desired heading to approach to the docking station compensating the effect of ocean current is different from the desired heading to be aligned to the direction of the dock entrance. We propose a discontinuous controller composed of two phases for final approaching and guidance scheme of underwater docking considering the effect of lateral ocean current. The first one phase consists of a conventional PID controller for path following. The second phase consist of a bang-bang controller for motion control and generation of reference heading for final alignment. Switching criterion between two controllers is considered. Simulation was conducted to validate the proposed scheme and results are included. And finally, we designed an ocean current observer.