두 개의 종 추진기를 갖는 무인수상선의 수치 모델링과 PTP 제어

Abstract

The USV(unmanned surface vehicle) was developed as an intermediate platform for the communication between AUV fleet and a mother ship or a control station on land. The USV should have the controller for a position keeping and tracking. This paper addresses a dynamic positioning control and a PTP(point-to-point) control of the USV which has two fixed thrusters. Experiments were carried out with the designed controller and the results were analyzed. Moreover, the numerical model of the USV was estimated based on the experimental data, which is intended to reduce the trial and error of gain-tuning in experimental process. To validate the estimated numerical model, we presented a comparison of the simulation results and the experimental results.